Abstract

An Autonomous Surface Vehicle (ASV) is a vehicle in the form of a ship on the surface of the water that can move without a crew on it or operate automatically. This study used the Touristant ASV with a length of 4 meters, a diameter of 1.5 meters, and a height of 1.3 meters. The contribution of this paper is the estimation of ASV position and ASV motion influenced by wind speed and wave height. The estimation method used is the Ensemble Kalman Filter (EnKF) method. EnkF is applied to the nonlinear ASV model to obtain a small position error. In our simulations, we conducted 3 scenarios based on the number of generated ensembles, that are 100, 200 and 300 ensembles. The position error generated from the simulation showed that the simulation with the lower position error has an accuracy more than 95%. The position error of x is 0.009 meters, the position error of y is 0.008 meters, and the position error of XY plane is 0.01 meters.

Original languageEnglish
Title of host publicationInnovative Science and Technology in Mechanical Engineering for Industry 4.0
Subtitle of host publicationProceedings of the 4th International Conference on Mechanical Engineering, ICOME 2019
EditorsVivien Djanali, Fahmi Mubarok, Bambang Pramujati, Suwarno
PublisherAmerican Institute of Physics Inc.
ISBN (Electronic)9780735419346
DOIs
Publication statusPublished - 10 Dec 2019
Event4th International Conference on Mechanical Engineering: Innovative Science and Technology in Mechanical Engineering for Industry 4.0, ICOME 2019 - Yogyakarta, Indonesia
Duration: 28 Aug 201929 Aug 2019

Publication series

NameAIP Conference Proceedings
Volume2187
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

Conference4th International Conference on Mechanical Engineering: Innovative Science and Technology in Mechanical Engineering for Industry 4.0, ICOME 2019
Country/TerritoryIndonesia
CityYogyakarta
Period28/08/1929/08/19

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