Abstract

Indonesia is an archipelago and maritime country. Thus, Indonesia has the potential to develop marine tourism. In order to attract tourists to enjoy the sea view, it is necessary to provide a safe transportation with a small risk. One of the vehicles that can be used to support the marine tourism is an unmanned ship or Autonomous Surface Vehicle (ASV). ASV can move without any crew and it can be controlled from distance. This study uses a Touristant ASV with a length of 4.12 meters, a diameter of 1.625 m and a height of 1.027 meters. The contribution of this paper is the estimation of a Touristant ASV trajectory via its nonlinear model under some noises by using Square Root Ensemble Kalman Filter (EnSRKF) method. The noises are wind velocity and sea wave. We have conducted simulations by using 400 and 500 ensembles. The results show that the error in x position is 0.02 meters, a y position is 0.031 meters, and an xy position is 0.015 meter, with an accuracy of above 96%. In the simulation, we use x and y position because the vehicle is always in the surface.

Original languageEnglish
Title of host publication2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages325-328
Number of pages4
ISBN (Electronic)9781728130903
DOIs
Publication statusPublished - Oct 2019
Event2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Batu-Malang, Indonesia
Duration: 9 Oct 201910 Oct 2019

Publication series

Name2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding

Conference

Conference2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019
Country/TerritoryIndonesia
CityBatu-Malang
Period9/10/1910/10/19

Keywords

  • autonomous surface vehicle
  • nonlinear models
  • position estimation
  • square root ensemble Kalman filter

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