Design and Development Graphical User Interface on Inertial Navigation System of Submarine

Amirotul Khoiro, Imam Arifin, Mahardhika Pratama, M. Fajar Adianto


This paper discusses an underwater vehicle named Kapal Tempur Bawah Air (KTBA). This vehicle needs INS and GPS  to know attitude, orientation, acceleration, velocity, and position. INS can provide attitude and movement data as well as long distance. INS on KTBA is implemented using Sublocus inertial sensor developed by Advanced Navigation. To know the navigation data, needed a process called interfacing. This process need a processor to read the data from inertial sensor. The processor to be used is Raspberry Pi 3 Model B. Besides data processing, need a user interface for the process that occurred. Therefore, this paper designed a Graphical User Interface for inertial navigation system. This interface design uses PyQt libraries with Python programming. The GUI testing is done by calculating the frame rate per second. The test results have different 56.83 % between Personal Computer and Raspberry Pi.


KTBA; INS; Raspberry Pi 3 Model B, interfacing; Graphical User Interface

Full Text:



A. Mansour and D. Liu, “Strength of Ships and Ocean Structure,” 2008.

A. J. Harry, “Fundamental of Submarine Concept Design,” SNAME Trans., vol. 100, pp. 419–448, 1992.

M. Summerfield, Rapid GUI Proramming with Python and Qt. Prentice Hall, 2007.

P. Yudhasasmita, “Kendaraan Tempur Taktis Bawah Air (Studi Kasus Elite Kopaska TNI AL),” Inosains, vol. 7, no. 2, 2012.

S. Ishibashi et al., “The Rotation Control System To Improve The Accuracy of An Inertial Navigation System Installed in An Autonomous Underwater Vehicle,” in UT- International Workshop on Scientific Use of Submarine Cables and Related Technologies, 2007.



  • There are currently no refbacks.

View my Stat: Click Here

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.