Open AccessNavigation and guidance control system of UNUSAITS AUV based on dynamical system using ensemble kalman filter square root
Author(s) -
Teguh Herlambang,
Subchan,
Hendro Nurhadi
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1538/1/012030
Subject(s) - trajectory , kalman filter , control theory (sociology) , square root , nonlinear system , ensemble kalman filter , mean squared error , extended kalman filter , computer science , position (finance) , filter (signal processing) , root mean square , navigation system , range (aeronautics) , simulation , engineering , mathematics , control (management) , artificial intelligence , computer vision , statistics , physics , aerospace engineering , geometry , finance , quantum mechanics , astronomy , electrical engineering , economics
This study presents the development of navigation system of AUV. It is initially in the form of a nonlinear system model to determine the trajectory for the AUV motion control. The non-linear system model of UNUSAITS AUV is then implemented in the Square Root Ensemble Kalman filter (SR-EnKF) to estimate the trajectory of the AUV. The developed EnKF algorithm covers two types of simulations. The contribution from this paper is trajectory or position estimation of nonlinear UNUSAITS AUV system with 6-DOF AUV model. The result of model estimation is presented based on numeric study and simulation. The first simulation is dedicated to generate 400 ensembles, and the second simulation is to generate 400 ensembles. The second simulation shows that the 500 ensembles give more accurate results. A further examination on the accuracy has been performed by accounting for the RMSE of actual condition and the estimation from the simulation, which yields the range of accuracy between 97 % up to 99%.