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Pratama, Mahardhika
School of Computer Science and Engineering, Nanyang Technological University
Computer Science & IT

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Inertial Navigation System Design Using Inertial Measurement Unit 10 DoF on Diver Propulsion Vehicle Ardiansyah, Alief; Arifin, Imam; Pratama, Mahardhika; R, Agung Imam
IPTEK Journal of Proceedings Series No 3 (2019): International Conference on Engineering Technology Advance Science and Industrial Appli
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23546026.y2019i3.5845

Abstract

Navigation system on DPV uses an analog compass to display the direction of the displacement angle of the vehicle through the degree of angle and the cardinal direction. It can’t display other data, such as the orientation angle and dive depth, which are needed to optimize the performance of DPV. INS is used as navigation system, where within the system there are IMU and computer device. INS works with measuring linear acceleration, rotation rate and magnetic field using accelerometer, gyroscope, and magnetometer on IMU. The reading result are processed by computer device using digital low-pass filter, Madgwick quaternion, and Euler angles to obtain angle orientation data in the form of roll, pitch, and yaw angles. The IMU on INS is configured with a pressure sensor that works with measuring hidrostatic pressure to obtain dive depth. Obtained results of orientation angle measurements that has the furthest error value of  3.00o, with the furthest average error valueof 0.96o, and the furthest noise value of at steady state of 1.00o. Results of depth measurement has furthest error value of 2.00 cm, with furthest average error value of 1.30 cm, and furthest noise value at steady state of 0 cm.
Design and Development Graphical User Interface on Inertial Navigation System of Submarine Khoiro, Amirotul; Arifin, Imam; Pratama, Mahardhika; Adianto, M. Fajar
IPTEK Journal of Proceedings Series No 3 (2019): International Conference on Engineering Technology Advance Science and Industrial Appli
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23546026.y2019i3.5844

Abstract

This paper discusses an underwater vehicle named Kapal Tempur Bawah Air (KTBA). This vehicle needs INS and GPS  to know attitude, orientation, acceleration, velocity, and position. INS can provide attitude and movement data as well as long distance. INS on KTBA is implemented using Sublocus inertial sensor developed by Advanced Navigation. To know the navigation data, needed a process called interfacing. This process need a processor to read the data from inertial sensor. The processor to be used is Raspberry Pi 3 Model B. Besides data processing, need a user interface for the process that occurred. Therefore, this paper designed a Graphical User Interface for inertial navigation system. This interface design uses PyQt libraries with Python programming. The GUI testing is done by calculating the frame rate per second. The test results have different 56.83 % between Personal Computer and Raspberry Pi.
Co-Authors Adianto, M. Fajar Ardiansyah, Alief Arifin, Imam Khoiro, Amirotul R, Agung Imam