Sensor Fusion – Based Localization for ASV with Linear Regression Optimization
DOI:
https://doi.org/10.30871/jaic.v9i4.10048Keywords:
Autonomous Surface Vehicle (ASV), Linear Regression, Localization, Sensor Fusion, Waterflow SensorAbstract
ASV (Autonomous Surface Vehicle) is one of popular innovations in the maritime field that is widely used for various missions on the water surface. The ASV itself has the ability to operate automatically without human intervention. Therefore, ASV requires an accurate and reliable localization system. This research focuses on developing an ASV localization system using waterflow sensors optimized through linear regression and integrated with orientation data from an IMU sensor through sensor fusion to obtain global coordinate position estimation. The experiments conducted showed a significant improvement in accuracy after optimization, with the Root Mean Square Error (RMSE) of the waterflow sensor data decreasing from 161.65 meters to 0.28 meters. Moreover, the yaw data reading by IMU achieved accuracy with RMSE 1.54 degrees. The localization system in the final test achieved RMSE values of 0.07 meters for the X-axis, 0.14 meters for the Y-axis, and 1.9 degrees for yaw during the ASV global positioning experiment. In addition, a GUI (Graphical User Interface) was developed for visualization with average communication latency of 113.6 milliseconds. This localization system is a promising solution in stable water condition.
Downloads
References
[1] N. H. Cahyadi, J. Endrasmono, Z. M. A. Putra, A. Khumaidi, R. Y. Adhitiya, and D. P. Riananda, “Perancangan Sistem Attitude Holding Prototype Autonomous Surface Vehicle Menggunakan Metode ANFIS,” Jambura Journal of Electrical and Electronics Engineering, vol. 6, no. 2, pp. 218–226, Jul. 2024.
[2] F. R. Saputra and M. Rivai, “Autonomous Surface Vehicle sebagai Alat Pemantau Lingkungan Menggunakan Metode Navigasi Waypoint,” Jurnal Teknik ITS, vol. 7, no. 1, Mar. 2018, doi: 10.12962/j23373539.v7i1.28493.
[3] Z. Ahmad Fauzan, A. Triwiyatno, B. Sasmito, and M. H. Nubly, “Intact stability and seakeeping characteristics of autonomous surface vehicle (asv) using swath hullform to support bathymetry survey activities on the coastal area,” MATEC Web of Conferences, vol. 177, p. 01001, Jul. 2018, doi: 10.1051/matecconf/201817701001.
[4] Y. Wu, T. Wang, and S. Liu, “A Review of Path Planning Methods for Marine Autonomous Surface Vehicles,” J Mar Sci Eng, vol. 12, no. 5, p. 833, May 2024, doi: 10.3390/jmse12050833.
[5] W. Jing et al., “Path Planning and Navigation of Oceanic Autonomous Sailboats and Vessels: A Survey,” Journal of Ocean University of China, vol. 19, no. 3, pp. 609–621, Jun. 2020, doi: 10.1007/s11802-020-4144-7.
[6] H. Nubli et al., “Design of the Bengawan Unmanned Vehicle (UV) Roboboat: Mandakini Neo,” Mekanika: Majalah Ilmiah Mekanika, vol. 21, no. 2, p. 64, Oct. 2022, doi: 10.20961/mekanika.v21i2.61624.
[7] R. N. Fauzan and M. S. Zuhrie, “Sistem Navigasi Autonomous Pada Prototipe Kapal dengan Sensor GPS dan Kompas,” JINACS (Journal of Informatics and Computer Science), vol. 05, no. 04, pp. 646–654, 2024.
[8] R. S. Wijaya et al., “Omni-directional Movement on the MRT PURVI Ship Robot,” Journal of Applied Electrical Engineering, vol. 7, no. 2, pp. 83–90, Dec. 2023, doi: 10.30871/jaee.v7i2.6475.
[9] S. T. Rasmana, Harianto, S. Pauladie, A. P. Abseno, and Z. ZR. Permana, “Lokalisasi Mobile Robot Berdasarkan Citra Kamera Omni Menggunakan Fitur SURF,” Jurnal Teknologi Informasi dan Ilmu Komputer (JTIIK), vol. 7, no. 5, pp. 1079–1088, Oct. 2020.
[10] N. Z. Mohd Nasir, M. A. Zakaria, S. Razali, and M. Y. bin Abu, “Autonomous mobile robot localization using Kalman filter,” MATEC Web of Conferences, vol. 90, p. 01069, Dec. 2017, doi: 10.1051/matecconf/20179001069.
[11] F. Muhammad, C. Adipura Wicaksana, and I. Artikel, “Literature Review Sistem Navigasi Autonomous Mobile Robot Berbasis ROS (Robot Operating System),” Jurnal Ilmiah Setrum Article In Press, vol. 10, no. 1, pp. 103–112, 2021, doi: 10.36055/setrum.v10i1.11862.
[12] S. Li, R. Yang, and X. Zhan, “Characterization of multi-band GNSS multipath in urban canyons using the 3D ray-tracing method,” GPS Solutions, vol. 28, no. 1, p. 49, Jan. 2024, doi: 10.1007/s10291-023-01590-7.
[13] J. Han, J. Park, J. Kim, and N. Son, “GPS-less Coastal Navigation using Marine Radar for USV Operation,” IFAC-PapersOnLine, vol. 49, no. 23, pp. 598–603, 2016, doi: 10.1016/j.ifacol.2016.10.500.
[14] X. Guang, Y. Gao, H. Leung, P. Liu, and G. Li, “An Autonomous Vehicle Navigation System Based on Inertial and Visual Sensors,” Sensors, vol. 18, no. 9, p. 2952, Sep. 2018, doi: 10.3390/s18092952.
[15] A. Majid, Jamaaluddin, A. Wiguna, H. Setiawan, and A. Farihah, “Development of an Automatic Water Flow Sensor System Using ESP32 for Efficient Water Control,” IOP Conf Ser Earth Environ Sci, vol. 1242, no. 1, p. 012016, Sep. 2023, doi: 10.1088/1755-1315/1242/1/012016.
[16] I. M. Futri, Ernidawati, and M. Sahal, “Development of a Discharge Measuring Tool using an Arduino Uno-based WaterFlow Sensor as a Fluid Learning Media,” Journal of Frontier Research in Science and Engineering(JoFRISE), vol. 2, no. 1, pp. 1–6, Mar. 2024.
[17] M. Taufiqqurohman and N. F. Sari, “Odometry Method and Rotary Encoder for Wheeled Soccer Robot,” IOP Conf Ser Mater Sci Eng, vol. 407, p. 012103, Sep. 2018, doi: 10.1088/1757-899X/407/1/012103.
[18] J. Lin, Z. Su, H. Zhao, Y. Zhao, X. Wang, and H. Zhou, “Combined Localization Method for Multimodal Wheel-Track Robots in Sheltered Space,” IEEE Access, vol. 12, pp. 47271–47282, 2024, doi: 10.1109/ACCESS.2024.3364068.
[19] S. A. S. Mohamed, M.-H. Haghbayan, T. Westerlund, J. Heikkonen, H. Tenhunen, and J. Plosila, “A Survey on Odometry for Autonomous Navigation Systems,” IEEE Access, vol. 7, pp. 97466–97486, 2019, doi: 10.1109/ACCESS.2019.2929133.
[20] S. Kim and M. Kim, “Rotation Representations and Their Conversions,” IEEE Access, vol. 11, pp. 6682–6699, 2023, doi: 10.1109/ACCESS.2023.3237864.
[21] S. Ardhi, T. P. Gunawan, S. Tjandra, and G. L. Dewi, “Penerapan Metode Regresi Linear dalam Pengembangan Pengukuran Aliran Air pada Sensor YF-S201,” Jurnal Industri, vol. 26, no. 1, pp. 10–21, 2023.
[22] A. W. Kiryanto, B. S. Wibawa, and A. Firdhaus, “Development of Catamaran Ship Design as a Hospital Facility for Handling Covid-19 Pandemic in Indonesian Archipelago Region,” International Journal of Advanced Research in Engineering and Technology, vol. 11, no. 11, pp. 373–381, 2020, doi: 10.34218/IJARET.11.11.2020.031.
[23] A. A. Fikri and L. Anifah, “Mapping and Localization System pada Mobile Robot Menggunakan Metode SLAM Berbasis LiDAR,” JIEET: Journal Information Engineering and Educational Technology, vol. 05, no. 01, pp. 27–33, 2021.
[24] V. J. H. Munthe and M. Hutabarat, “Rancang Bangun Alat Ukur Kecepatan Aliran Air Menggunakan Water Flow Sensor Berbasis Arduino Uno,” Jurnal Teknologi Informasi dan Industri, vol. 3, no. 1, pp. 84–91, Jan. 2023.
[25] A. Maulidin, A. S. Wibowo, and I. M. Rodiana, “Desain Graphical User Interface Pada Sistem Telemetri Autonomous Mobile Robot,” e-Proceeding of Engineering, vol. 9, no. 5, pp. 2031–2039, Oct. 2022.
[26] Y. N. Sharaningtyas and T. A. P. Sidhi, “Perlindungan Hukum Terhadap Graphical User Interface (GUI) Dalam Tampilan Panel Antarmuka Aplikasi di Indonesia,” Prosiding SENAPAS, vol. 2, no. 1, pp. 297–300, Jun. 2024.
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2025 Ryan Satria Wijaya, Eko Rudiawan Jamzuri, Anugerah Wibisana, Jepelin Amstrong Sinaga, Vafin Julanba
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License (Attribution-ShareAlike 4.0 International (CC BY-SA 4.0) ) that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
