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Journal : Indonesian Journal of Electrical Engineering and Computer Science

Cumulative error correction of inertial navigation systems using LIDAR sensors and extended Kalman filter Silmi Ath Thahirah Al Azhima; Dadang Lukman Hakim; Robby Ikhfa Nulfatwa; Nurul Fahmi Arief Hakim; Mariya Al Qibtiya
Indonesian Journal of Electrical Engineering and Computer Science Vol 34, No 2: May 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v34.i2.pp878-887

Abstract

Autonomous robots have gained significant attention in research due to their ability to facilitate human work. Navigation systems, particularly localization, present a challenge in autonomous robots. The inertial navigation system is a localization system that uses inertial sensors and a wheel odometer to estimate the robot’s relative position to the initial position. However, the system is susceptible to continuous error accumulation over time due to factors like sensor noise and wheel slip. To address these issues, external sensors are required to measure the robot’s position in the environment. The extended Kalman filter (EKF) method is utilized to estimate the robot’s position based on wheel odometer and light detection and ranging (LIDAR) sensor measurements. In the prediction stage, the input to the EKF is the position measurement from the wheel odometer, while the LIDAR sensor’s position measurement is used in the update stage to improve the prediction stage results. The test results reveal that the EKF’s estimated position has a lower average error compared to the position measurement using the wheel odometer. Therefore, it can be concluded that the EKF technique is effectively applied to the robot and can correct the wheel odometer's cumulative error with the assistance of the LIDAR sensor.
Solar irradiation intensity forecasting for solar panel power output analyze Sucita, Tasma; Hakim, Dadang Lukman; Hidayahtulloh, Rizky Heryanto; Fahrizal, Diki
Indonesian Journal of Electrical Engineering and Computer Science Vol 36, No 1: October 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v36.i1.pp74-85

Abstract

Accurate forecasting of global horizontal irradiance (GHI) is critical for optimizing solar power plant (SPP) output, particularly in tropical locales where solar potential is high yet underutilized due to forecasting challenges. This research aims to enhance GHI prediction in one of the major cities of Indonesia, where existing models struggle with the area’s natural climate unpredictability. Our analysis harnesses a decade of data 2011-2020, including GHI, temperature, and the Sky Insolation Clearness Index, to calibrate and compare these methodologies. We evaluate and contrast the exponential smoothing method versus the more complicated artificial neural network (ANN). Our findings reveal that the ANN method, notably its fourth iteration model with 12 input and hidden layers, substantially outperforms exponential smoothing with a low error rate of 1.12%. The use of these methodologies forecasts an average energy output of 252,405 Watt for a solar panel with specification 15.3% efficiency and 1.31 m2 surface area throughout the 2021 to 2025 timeframe. The work offers the ANN method as a strong prediction tool for SPP development and urges a further exploration into more advanced forecasting methodologies to better harness solar energy.