Pembangunan Sistem Penentuan Posisi dan Navigasi Berbasiskan Sistem Unmanned Surface Vehicle (USV) untuk Survei Batimetri

Ni Made Rai Ratih C, Deni Suwardhi

Abstract


ABSTRAK
Unmanned Surface Vehicle (USV) adalah wahana yang dioperasikan pada permukaan air tanpa awak. Sistem ini awalnya dikembangkan untuk keperluan militer. Saat ini pengembangan untuk keperluan sipil telah banyak dilakukan. Sistem ini bermanfaat untuk memetakan lokasi yang sulit dilakukan oleh kapal survei biasa yang pengoperasiannya memerlukan ruang lebih besar. Penelitian ini bertujuan untuk membangun suatu sistem penentuan posisi dan navigasi berbasiskan Sistem USV sebagai upaya awal dalam pengembangan bidang hidrografi di Itenas. Pembangunan sistem USV didasarkan pada Model Windrush II Airboat yang direkonstruksi tiga dimensi secara digital dari foto model tersebut menggunakan teknologi Reverse Engineering Metode Close Range Photogrammetry yang diperbesar dua kali. Sistem navigasinya menggunakan open source software ArduPilot. Sistem diujicobakan di Danau Saguling. Berdasarkan penelitian didapatkan bahwa perlu modifikasi pada bagian bawah dan depan desain model. Wahana apung yang dihasilkan: memiliki daya apung baik dan lebih stabil jika dimuati beban; daya angkut beban kurang lebih 8 kg; kecepatan rata-rata 5 m/detik; waktu pengoperasian sampai 2 jam; telemetri navigasi bekerja dengan maksimum jarak 10 kilometer, sistem tracking GPS berjalan dengan baik; sistem Auto Navigation belum bekerja dengan sempurna, wahana sudah bergerak secara otomatis ke arah waypoint, tetapi gerakannya belum stabil.

Kata kunci: Unmanned Surface Vehicle, Reverse Engineering, Auto Navigation.


ABSTRACT
Unmanned Surface Vehicle (USV) refers to any vehicle that operates on the surface of the water without a crew. Nowadays, not only for military purpose, many of civilian purposes was also taken in considerations Operating the ordinary hydrographic vessel need the wider horizontal and vertical space. USV is more capable for charting the very shallow and narrow waters. This research is intended to build the positioning and navigation system based on Unmanned Surface Vehicle System as the starting effort for developing hydrography at Itenas USV model is developed based on Windrush II Airboat, enlarged two times from the original, digital 3D reconstruction from the model photographs using Reverse Engineering of Close Range Photogrammetry Method. Open source software ArduPilot is applied for navigation system. The system is tested in Saguling Lake. From this research it is founded that the modification of the model design is needed at the bottom and front of the vessel. The spesification of the vessel which is build from this research are: has the good buoyancy and more stable when loaded; load carrying capacity approximately 8 kg; an average speed of 5 m/sec; operating time up to 2 hours; telemetry of navigation works with a maximum distance of 10 kilometers, GPS tracking system is running well; Auto Navigation system has not worked perfectly, the vessel is moving automatically to the waypoint, but the movement has not been stable.

Keywords: Unmanned Surface Vehicle, Reverse Engineering, Auto Navigation.

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