Estimasi Lintasan AUV 3 Dimensi (3D) Dengan Ensemble Kalman Filter

Ngatini, Hendro Nurhadi

Program Studi Informatika

Universitas Internasional Semen Indonesia

Kompleks PT Semen Indonesia (Persero) Tbk Jl. Veteran, Gresik, Indonesia

ngatini@uisi.ac.id 

ABSTRACT 
AUV is an unmanned underwater vehicle that is driven (controlled) by a computer device. The motion system of AUV requires a navigation and guidance control to direct the motion of the AUV, so an estimated position of the AUV is needed in accordance with the given path. This study develops the position estimation of AUV Segorogeni ITS using the Ensemble Kalman Filter (EnKF) method because EnKF can estimate the problem in the form of a non-linear system model where the equations of AUV are non-linear. Position estimation is carried out on a 3-dimensional (3D) trajectory which is built by using the Octave program. The simulation displays the results of AUV position estimation using the EnKF algorithm with several different ensembles which are 50, 100, 200 and 300 ensembles. The accuracy of the estimation is measured by the error value of the estimated result, namely the value of RMSE (Root Mean Square Error). The simulation results show an estimated error average of 0.4 m for x-position, 0.46 m for y-position, 0.08 m for z-position and 0.1 m for angle error.

Keywords – AUV, EnKF, 3D Trajectory.

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