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Performance of GPS and IMU sensor fusion using unscented Kalman filter for precise i-Boat navigation in infinite wide waters

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Geodesy and Geodynamics 2023年第3期14卷 265-274页

作者： mokhamad nur cahyadi Tahiyatul Asfihani Ronny Mardiyanto Risa Erfianti Department of Geomatics Engineering Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Research Center of Marine and Earth Science-Technology Directorate of Research and Community ServiceInstitut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Department of Mathematics Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Department of Electrical Engineering Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia

The Unmanned Surface Vehicle(USV)navigation system needs an accurate,firm,and reliable performance to avoid obstacles,as well as carry out automatic movements during *** Global Positioning System(GPS)is often used in these systems to provide absolute position ***,the GPS measurements are affected by external conditions such as atmospheric bias and multipath *** leads to the inability of the stand-alone GPS to provide accurate positioning for the USV *** of the solutions to correct the errors of this sensor is by conducting GPS and Inertial Measurement Unit(IMU)*** IMU sensor is complementary to the GPS and not affected by external ***,it accumulates noise as time ***,this study aims to determine the fusion of the GPS and IMU sensors for the i-Boat navigation system,which is a USV developed by Institut Teknologi Sepuluh Nopember(ITS)*** the Unscented Kalman filter(UKF),sensor fusion was carried out based on the state equation defined by the dynamic and kinematic mathematical model of ship motion in 6 degrees of *** the performance of this model was tested through several simulations using different combinations of attitude measurement *** scenarios were conducted in the simulations:attitude measurement inclusion and exclusion(Scenarios I and II,respectively).The results showed that the position estimation in Scenario II was better than in Scenario I,with the Root Mean Square Error(RMSE)value of 0.062 *** simulations showed that the presence of attitude measurement data caused a decrease in the fusion *** UKF simulation with eight measurement parameters(Scenarios A,B and C)and seven measurement parameters(Scenarios D,E and F),as well as analytical attitude movement,indicated that yaw data had the largest noise accumulation compared to roll and pitch.

关键词： GPS IMU Fusion sensor 6 DOF USV motion Unscented Kalman filte

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Unscented Kalman filter for a low-cost GNSS/IMU-based mobile mapping application under demanding conditions

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Geodesy and Geodynamics 2024年第2期15卷 166-176页

作者： mokhamad nur cahyadi Tahiyatul Asfihani Hendy Fitrian Suhandri Risa Erfianti Department of Geomatics Engineering Institut Teknologi Sepuluh NopemberSurabaya 6011Indonesia Research Center of Marine and Earth Science Technology Directorate of Research and Community ServiceInstitut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Department of Mathematics Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Centre of Studies for Surveying Science&Geomatics Universiti Teknologi Mara(UiTM)Shah Alam 40450Malaysia

For the last two decades,low-cost Global Navigation Satellite System(GNSS)receivers have been used in various *** receivers are mini-size,less expensive than geodetic-grade receivers,and in high *** of these outstanding features,low-cost GNSS receivers are potentially poorer hardwares with internal signal processing,resulting in lower *** typically come with low-cost GNSS antenna that has lower performance than their counterparts,particularly for multipath ***,this research evaluated the low-cost GNSS device performance using a high-rate kinematic *** this purpose,these receivers were assembled with an Inertial Measurement Unit(IMU)sensor,which actively transmited data on acceleration and orientation rate during the *** position and navigation parameter data were obtained from the IMU readings,even without GNSS signals via the U-blox F9R GNSS/IMU device mounted on a *** research was conducted in an area with demanding conditions,such as an open sky area,an urban environment,and a shopping mall basement,to examine the device’s *** data were processed by two approaches:the Single Point Positioning-IMU(SPP/IMU)and the Differential GNSS-IMU(DGNSS/IMU).The Unscented Kalman Filter(UKF)was selected as a filtering algorithm due to its excellent performance in handling nonlinear system *** result showed that integrating GNSS/IMU in SPP processing mode could increase the accuracy in eastward and northward components up to 68.28%and 66.64%.Integration of DGNSS/IMU increased the accuracy in eastward and northward components to 93.02%and 93.03%compared to the positioning of standalone *** addition,the positioning accuracy can be improved by reducing the IMU noise using low-pass and high-pass *** application could still not gain the expected position accuracy under signal outage conditions.

关键词： LoW-cost GNSS GNSS/IMU Single Point Positioning-IMU(SPP/IMU) Differential GNSS-IMU(DGNSS/IMU) Unscented Kalman Filter(UKF) Outageconditions

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Analysis of the effect of the 2021 Semeru eruption on water vapor content and atmospheric particles using GNSS and remote sensing

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Geodesy and Geodynamics 2024年第1期15卷 33-41页

作者： mokhamad nur cahyadi Arizal Bawasir Syachrul Arief Amien Widodo Meifal Rusli Deni Kusumawardani Yessi Rahmawati Ana Martina Putra Maulida Hilda Lestiana Department of Geomatics Engineering Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Research Center of Marine and Earth Science-Technology Directorate of Research and Community ServiceInstitut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Geospatial Education and Training Division Geospatial Information Agency(BIG)Cibinong 16911Indonesia Department of Geophysics Engineering Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Department of Mechanical Engineering Andalas UniversityPadang City 25175Indonesia Department of Economics Airlangga UniversitySurabaya 60286Indonesia Research Center for Geological Resources National Research and Innovation AgencyJakarta 10340Indonesia

Mount Semeru,an active volcano in East Java,Indonesia,erupted on December 4,2021,following extreme rainfall that caused an avalanche of hot pyroclastic flows and *** tropospheric conditions and dominant particle components in the atmosphere can be monitored using Global Navigation Satellite System(GNSS)technology and remote sensing *** signal propagation delay in Precise Point Positioning(PPP)processing can be used to determine Zenith Tropospheric Delay(ZTD)and Precipitable Water Vapor(PWV)variables so that atmospheric conditions can be *** addition,by using remote sensing satellite data,it is possible to obtain rainfall data with high temporal resolution as well as the dominant particle and gas content values during *** the eruption period,the high value of PWV was dominated by the high intensity of precipitation during the rainy *** rainfall before the eruption caused activity inside the mountain to increase,which occurred in avalanche type *** from that,the atmosphere around Semeru was also dominated by SO_(2)content,which spreaded for tens of ***_(2)content began to be detected significantly by remote sensing sensors on December 7,*** this study,deformation and atmospheric monitoring were also carried out using low-cost GNSS at the Semeru Monitoring Station on September 9-15,*** results of the ZTD and ZWD values show the dominance of the wet component,which is directly proportional to rainfall activity in this period.

关键词： Semeru GNSS Water vapor Rainfall SO_(2)

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COCKPIT-PLUS:A proposed method for rapid groundwater vulnerability-driven land use zoning in tropical cockpit karst areas

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Geography and Sustainability 2023年第4期4卷 305-317页

作者： Eko Haryono Afid nur Kholis Margaretha Widyastuti Ahmad cahyadi Hanindha Pradipa Tjahyo Nugroho Adji Karst Research Group Faculty of GeographyUniversitas Gadjah MadaIndonesia

Karst groundwater is highly vulnerable to contamination,which urges better land use *** paper proposes a new approach,called COCKPIT-PLUS,to minimize groundwater contamination within cockpit karst *** method employed four parameters:P(the existence of ponor/swallow hole),L(lineament density),U(sinking stream to an underground river),and S(distance to spring/pumping site).These parameters are essential for identifying contaminant pathways and transport from the surface to the karst groundwater/***-PLUS has been developed and validated in the Gunungsewu karst in Java,*** research considers a cockpit as a single hydrological unit that uniquely recharges karst *** analyzed 2,811 cockpits and 81 other closed depressions to develop a land use planning *** research used the time to first arrival(Ta),time to peak(Tp),and Q_(max/min)ratio parameters of two karst springs and two underground pumping sites for *** with ponors/swallow holes,sinking streams,high lineament density,and short distances to springs are vulnerable to groundwater and thus must be restricted areas for any land *** findings show that though the COCKPIT-PLUS uses a limited karst dataset,the proposed method seems reliable enough for a rapid land-use zoning approach in cockpit karst areas.

关键词： Cockpit karst Karst aquifer Land use planning Rapid assessment Karst vulnerability

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