TY - GEN
T1 - Position estimation of Touristant ASV using ensemble Kalman filter
AU - Nurhadi, Hendro
AU - Herlambang, Teguh
AU - Adzkiya, Dieky
N1 - Publisher Copyright:
© 2019 Author(s).
PY - 2019/12/10
Y1 - 2019/12/10
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85076778891&partnerID=8YFLogxK
U2 - 10.1063/1.5138367
DO - 10.1063/1.5138367
M3 - Conference contribution
AN - SCOPUS:85076778891
T3 - AIP Conference Proceedings
BT - Innovative Science and Technology in Mechanical Engineering for Industry 4.0
A2 - Djanali, Vivien
A2 - Mubarok, Fahmi
A2 - Pramujati, Bambang
A2 - Suwarno, null
PB - American Institute of Physics Inc.
T2 - 4th International Conference on Mechanical Engineering: Innovative Science and Technology in Mechanical Engineering for Industry 4.0, ICOME 2019
Y2 - 28 August 2019 through 29 August 2019
ER -