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All Journal BAREKENG: Jurnal Ilmu Matematika dan Terapan
Andy Suryowinoto
Electircal Engineering Department, Institut Teknologi Adhi Tama Surabaya, Indonesia
Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Energy Engineering Mathematics Mechanical Engineering Physics Transportation

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DIVING MOTION ESTIMATION OF REMOTELY OPERATED VEHICLE USING ENSEMBLE KALMAN FILTER AND H-INFINITY Teguh Herlambang; Andy Suryowinoto; Dian Adrianto; Dinita Rahmalia; Hendro Nurhadi
BAREKENG: Jurnal Ilmu Matematika dan Terapan Vol 17 No 1 (2023): BAREKENG: Journal of Mathematics and Its Applications
Publisher : PATTIMURA UNIVERSITY

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (423.202 KB) | DOI: 10.30598/barekengvol17iss1pp0095-0100

Abstract

ROV (Remotely Operated Vehicle) is a product of technological development, functioning to perform tasks in the water. Big tasks such as coral reef exploration, oil refineries, underwater monitoring, and sea accident rescue are carried out by such technology. ROV or unmanned submarines have 6 degrees of freedom, but for diving it requires only 3 movements, that is, surge, heave, and pitch motions. In its operation, the ROV requires a navigation system in the form of estimation of the ROV position under diving conditions. In this study, two methods were used to estimate the ROV position under diving conditions, that is, the H-infinity method and the Ensemble Kalman Filter (EnKF). Both methods proved reliable on other platforms. The simulation results in this study showed that the EnKF method was more accurate than the H-Infinity method. The H-Infinity method had an accuracy of around 87%, while the EnKF method reached an accurate of 99 %.
Co-Authors Dian Adrianto Dinita Rahmalia Hendro Nurhadi Teguh Herlambang