Navigation of USV for GPS-Disabled Environment based on Extended Kalman Filter
Hermawan Nugroho, Chew Jing Xan, Tan Jian Yee, Lee Kah Yong, Liew Zhan Quan, Muhammad Ilhamdi Rusydi · 2023
Water is an important factor in agriculture. In addition, worldwide, there is a lack of labor in food and farming sectors. To address these issues, the use of Unmanned Surface Vehicles (USVs) is proposed. Most of the available USV in the market however are not equipped with navigation tool for GPS-denied areas. Generally, agriculture-related industries are in rural areas and these areas may have relatively weak GPS signals. In this project, a navigation algorithm for USV in GPS-denied environment is developed. Extended Kalman Filter (EKF) is used in the development of the algorithm. Results demonstrate that the algorithm that was developed has a low error rate (5.67%), which indicates an encouraging outcome.