TY - GEN
T1 - UNUSAITS AUV Navigation and Guidance System with Nonlinear Modeling Motion using Ensemble Kalman Filter
AU - Subchan,
AU - Herlambang, Teguh
AU - Nurhadi, Hendro
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - This paper presents the results of the development of navigation and guidance system of Autonomous Underwater Vehicle (AUV). AUV has an equation of motions with 6-DOF for both translational and rotational motions. This study developed trajectory estimation of a nonlinear 6-DOF model. Ensemble Kalman Filter (EnKF) was implemented to nonlinear model as to have a small position error. The application of EnKF was done with two simulations, that is, by generating 200 and 300 ensembles for UNUSAITS AUV. The main contribution of this paper is Navigation and guidance system for nonlinear models of 6-DOF UNUSAITS AUV The simulation results showed that the one by the EnKF method reached an accuracy of 99% with a position error of about 0.01% - 0.35%, whereas, the other by generating 300 ensembles showed higher accuracy with x position error of 0.011 meters, y position error of 0.007 meters, and z position error of 0.015 meters.
AB - This paper presents the results of the development of navigation and guidance system of Autonomous Underwater Vehicle (AUV). AUV has an equation of motions with 6-DOF for both translational and rotational motions. This study developed trajectory estimation of a nonlinear 6-DOF model. Ensemble Kalman Filter (EnKF) was implemented to nonlinear model as to have a small position error. The application of EnKF was done with two simulations, that is, by generating 200 and 300 ensembles for UNUSAITS AUV. The main contribution of this paper is Navigation and guidance system for nonlinear models of 6-DOF UNUSAITS AUV The simulation results showed that the one by the EnKF method reached an accuracy of 99% with a position error of about 0.01% - 0.35%, whereas, the other by generating 300 ensembles showed higher accuracy with x position error of 0.011 meters, y position error of 0.007 meters, and z position error of 0.015 meters.
KW - AUV
KW - EnKF
KW - Navigation
KW - Trajectory Estimation
UR - http://www.scopus.com/inward/record.url?scp=85084200166&partnerID=8YFLogxK
U2 - 10.1109/ICAMIMIA47173.2019.9223388
DO - 10.1109/ICAMIMIA47173.2019.9223388
M3 - Conference contribution
AN - SCOPUS:85084200166
T3 - 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding
SP - 321
EP - 324
BT - 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019
Y2 - 9 October 2019 through 10 October 2019
ER -