UNUSAITS AUV Navigation and Guidance System with Nonlinear Modeling Motion using Ensemble Kalman Filter

Abstract

This paper presents the results of the development of navigation and guidance system of Autonomous Underwater Vehicle (AUV). AUV has an equation of motions with 6-DOF for both translational and rotational motions. This study developed trajectory estimation of a nonlinear 6-DOF model. Ensemble Kalman Filter (EnKF) was implemented to nonlinear model as to have a small position error. The application of EnKF was done with two simulations, that is, by generating 200 and 300 ensembles for UNUSAITS AUV. The main contribution of this paper is Navigation and guidance system for nonlinear models of 6-DOF UNUSAITS AUV The simulation results showed that the one by the EnKF method reached an accuracy of 99% with a position error of about 0.01% - 0.35%, whereas, the other by generating 300 ensembles showed higher accuracy with x position error of 0.011 meters, y position error of 0.007 meters, and z position error of 0.015 meters.