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

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References


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DOI: http://dx.doi.org/10.51804/tesj.v2i1.227.41-46

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