ESTIMASI GERAK TRANSLASI AUTONOMOUS UNDERWATER VEHICLE DENGAN ENSEMBLE KALMAN FILTER (EnKF)

Teguh Herlambang, Subchan Subchan

Abstract


Penelitian dan pengembangan dari Autonomous Underwater Vehicle cukup banyak diantaranya terkait sistem kendali, navigasi dan hidrodinamika. Pada umunya persamaan gerak AUV adalah 6 derajat kebebasan/Degree of Freedom (DOF) yang terdiri dari gerak translasi (surge, sway, heave) dan gerak rotasi (roll, pitch, yaw). Pada paper ini dikembangkan metode estimasi gerak tranlasi dari ITSUNUSA AUV dengan metode Ensemble Kalman Filter. Pada paper ini juga dibandingkan berdasarakn pembangkian julah ensemble. Hasil simulasi menunjukkan bahwa yang terakurat adalah dengan membangkitkan 300 ensemble dengan error kecepatan untuk gerak surge adalah 0,082%, gerak sway 0.498% dan gerak heave 0.26%.


Keywords


auv; estimasi gerak; sistem navigasi; ensemble kalman filter

Full Text:

PDF

References


An, P. E., Healey, A. J., Park, J., & Smith, S. M. (1997). Asynchronous data fusion for AUV navigation via heuristic fuzzy filtering techniques. Oceans ’97 Mts/Ieee Conference Proceedings, Vols 1 and 2, 397–402r1510. https://doi.org/10.1109/OCEANS.1997.634396

Ermayanti, Z., Apriliani, E., Nurhadi, H., & Herlambang, T. (2016). Estimate and control position autonomous Underwater Vehicle based on determined trajectory using Fuzzy Kalman Filter method. In ICAMIMIA 2015 - International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, Proceeding - In conjunction with Industrial Mechatronics and Automation Exhibition, IMAE. https://doi.org/10.1109/ICAMIMIA.2015.7508022

Herlambang, T. (2017a). Desain Sistem Kendali Gerak Surge , Sway Dan Yaw Pada Autonomous Underwater Vehicle Dengan Metode Sliding Mode Control ( Smc ), 51–60.

Herlambang, T. (2017b). Design of a Navigation and Guidance System of Missile with Trajectory Estimation Using Ensemble Kalman Filter Square Root ( EnKF-SR ). In Computer Applications and Information Processing Technology (CAIPT), 2017 4th International Conference on (pp. 1–7). IEEE.

Herlambang, T., Djatmiko, E. B., & Nurhadi, H. (2015). Ensemble kalman filter with a square root scheme (EnKF-SR) for trajectory estimation of AUV SEGOROGENI ITS. International Review of Mechanical Engineering, 9(6). https://doi.org/10.15866/ireme.v9i6.6341

Herlambang, T., Djatmiko, E. B., & Nurhadi, H. (2016). Navigation and guidance control system of AUV with trajectory estimation of linear modelling. In ICAMIMIA 2015 - International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, Proceeding - In conjunction with Industrial Mechatronics and Automation Exhibition, IMAE. https://doi.org/10.1109/ICAMIMIA.2015.7508028

Herlambang, T., Mufarrikoh, Z., Karya, D. F., & Rahmalia, D. (2018). Estimation of water level and steam temperature using ensemble Kalman filter square root (EnKF-SR). In Journal of Physics: Conference Series (Vol. 1008). https://doi.org/10.1088/1742-6596/1008/1/012026

Herlambang, T., & Nurhadi, H. (2017). Design of a Sliding PID Controller for The Surge and Roll Motion Control of UNUSAITS AUV, 3(2), 61–64.

Herlambang, T., Nurhadi, H., & Subchan. (2014). Preliminary numerical study on designing navigation and stability control systems for ITS AUV. Applied Mechanics and Materials (Vol. 493). https://doi.org/10.4028/www.scientific.net/AMM.493.420

Kondo, H., & Ura, T. (2004). Navigation of an AUV for investigation of underwater structures. Control Engineering Practice, 12(12 SPEC. ISS.), 1551–1559. https://doi.org/10.1016/j.conengprac.2003.12.005

Loebis, D., Sutton, R., Chudley, J., & Naeem, W. (2004). Adaptive tuning of a Kalman filter via fuzzy logic for an intelligent AUV navigation system. Control Engineering Practice, 12(12 SPEC. ISS.), 1531–1539. https://doi.org/10.1016/j.conengprac.2003.11.008

Oktafianto, K., Herlambang, T., Mardlijah, & Nurhadi, H. (2016). Design of Autonomous Underwater Vehicle motion control using Sliding Mode Control method. In ICAMIMIA 2015 - International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, Proceeding - In conjunction with Industrial Mechatronics and Automation Exhibition, IMAE. https://doi.org/10.1109/ICAMIMIA.2015.7508023

Repoulias, F., & Papadopoulos, E. (2007). Three Dimensional Trajectory Control of Underactuated AUVs. Control, 3492–3499.




Copyright (c) 2018 Teknika : Engineering and Sains Journal




TESJ abstracted & indexed by :

                                                                                      


Publisher : Faculty of Engineering, Universitas Maarif Hasyim Latif

Address : LPPM UMAHA

Jl. Ngelom Megare, Taman, Sidoarjo 61257   031-7884034, Fax. 031-7884034
e-mail : [email protected]
URL : https://e-journal.umaha.ac.id/index.php/teknika


ISSN 2579-5422 (online)
ISSN 2580-4146 (print)

Creative Commons License
TESJ is licensed under a Creative Commons Attribution 4.0 International License.

Powered by Open Journal Systems 2.4.8.1