Estimasi Gerak Menyelam ITSUNUSA AUV dengan Metode Ensemble Kalman Filter Square Root (EnKF-SR)

Teguh Herlambang, Subchan Subchan, Hendro Nurhadi

Abstract

Autonomous Underwater Vehicle (AUV) merupakan salah satu jenis robot bawah air yang relatif flexibel untuk peralatan sistem pertahanan bawah laut dan eksplorasi sumber daya alam di bawah laut. AUV terdiri dari gerak translasi dan rotasi yan tergabung dalam 6 Degree of Freedom (DOF). Pengendalian AUV dibagi menjadi dua yaitu kendali kecepatan dan kendali agar mengikuti lintasan yang diinginkan. Kendali AUV agar mengikuti trajectory yang diinginkan ini biasa disebut dengan system navigasi atau Estimasi trajectory. Pada penelitian ini dikembangkan sistem navigasi untuk gerak menyelam dengan model 3-DOF yaitu gerak surge, heave dan pitch dengan metode Ensemble Kalman Filter Square Root (EnKF-SR). Hasil simulasi menunjukkan bahwa metode EnKF-SR dapat digunakan sebagai sistem system navigasi 3-DOF dengan menghasilkan error estimasi gerak menyelam untuk surge, heave dan pitch memiliki error yang cukup kecil yaitu 0.02 m/s untuk gerak translasi dan 0.005 rad/s untuk gerak rotasi. Sedangkan error posisi menyelam hanya 0.03 meter atau 3 cm dari lintasan yang ditentukan

Keywords

AUV, EnKF-SR, Estimasi Gerak, Estimasi Posisi

Full Text:

PDF

References

Control Systems for ITS AUV, Applied Mechanics and Materials Vol. 493 (2014) pp 420-425 Trans Tech Publications, Switzerland. 2014.

Oktafianto, K., Herlambang T., Mardlijah, Nurhadi H., 2015, “Design of Autonomous Underwater Vehcle Motion Control Using Sliding Mode Control Method”, International Conference on Advance Mechatronics, Intelligent Manufactre, and Industrial Automation

(ICAMIMIA)-IEEE Surabaya Indonesia, 15 – 16 Oktober 2015.

Herlambang, T., Subchan and Nurhadi H., 2018, “Design of Motion Control Using Proportional Integral Derivative for UNUSAITS AUV”, International Review of Mechanical Engineering IREME Journal, Vol. 12, No. 11. Pp. 928-938, ISSN 1970 – 8734. Nov

Herlambang, T., Djatmiko E.B and Nurhadi H., 2015, “Navigation and Guidance Control System of AUV with Trajectory Estimation of Linear Modelling”, Proc. of International Conference on Advance Mechatronics, Intelligent Manufactre, and Industrial Automation, IEEE , ICAMIMIA 2015,Surabaya, Indonesia, pp. 184-187, Oct 15 – 17.

Panish, R. and Taylor, M., 2011, “Achieving High Navigation Accuracy Using Inertial Navigation Systems in Autonomous Underwater Vehicle”. Proc. of OCEANS 2011, IEEE, Santander, Spanyol, June. 6-9

Nurhadi, H., Subchan, and Gustiyadi, F.R., 2012, “Design of Position Estimation Algorithm of Navigation and Trajectory System for Unmanned Underwater Vehicle ITS AUV-01 using Ensemble Kalman Filter (EnKF) Method”, 13th Seminar on Intelligent Technology and Its Applications (SITIA 2012), Surabaya, Indonesia, May 23

Paull, L., Saeedi, S., Seto, M., and Li, H., 2014, “AUV Navigation and Localization: A Review”, IEEE Journal of Oceanic Engineering, Vol. 39, No 1, Jan.

Ermayanti, E., Aprilini, E., Nurhadi H, and Herlambang T, 2015, “Estimate and Control Position Autonomous Underwater Vehicle Based on Determined Trajectory using Fuzzy Kalman Filter Method”, International Conference on Advance Mechatronics, Intelligent Manufactre, and Industrial Automation (ICAMIMIA)-IEEESurabaya Indonesia, 15 – 16 Oktober 2015

Herlambang, T., 2017, “Design of a Navigation and Guidance System of Missile with Trajectory Estimation Using Ensemble Kalman Filter Square Root (EnKF-SR). International Conference on Computer Applications and Information Processing Technology (CAIPT)- IEEE, Bali Indonesia 8-10 Augsut 2017.

Herlambang, T., Rahmalia, D., and Yulianto, T., 2018,” Particle Swarm Optimization (PSO) and Ant Colony Optimization (ACO) for Optimizing PID Parameters on Autonomous Underwater Vehicle (AUV) Control System”, The Second Internatonal Conference on Combinatorics, Graph Teory and Network Topology, University of Jember-Indonesia, 24-25 Nov 2018

Herlambang, T., Subchan and Nurhadi H., 2018, “Position Estimation of ITSUNUSA AUV Based on Determined Trajectory using Kalman Filter (KF)”, International Conference on Research, Implementation and Education of Mathematics and Science (ICRIEMS), Yogjakarta, 7-8 May 2018

Refbacks

  • There are currently no refbacks.