BAREKENG: Jurnal Ilmu Matematika dan Terapan
Vol 17 No 1 (2023): BAREKENG: Journal of Mathematics and Its Applications

DIVING MOTION ESTIMATION OF REMOTELY OPERATED VEHICLE USING ENSEMBLE KALMAN FILTER AND H-INFINITY

Teguh Herlambang (Information System Department, FEBTD, Universitas Nahdlatul Ulama Surabaya, Indonesia)
Andy Suryowinoto (Electircal Engineering Department, Institut Teknologi Adhi Tama Surabaya, Indonesia)
Dian Adrianto (Indonesian Navy, Hydro - Oseanography Center (Pushidrosal), Indonesia)
Dinita Rahmalia (Department of Mathematics, University of Islam Darul Ulum Lamongan, Indonesia)
Hendro Nurhadi (Department of Industrial Mechanical Engineering, Institut Teknologi Sepuluh Nopember, Indonesia)

Article Info

Publish Date
15 Apr 2023

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 %.

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Journal Info
BAREKENG: Jurnal Ilmu Matematika dan Terapan
Website

Abbrev

barekeng

Publisher

Universitas Pattimura

Subject

Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Energy Engineering Mathematics Mechanical Engineering Physics Transportation

Description

BAREKENG: Jurnal ilmu Matematika dan Terapan is one of the scientific publication media, which publish the article related to the result of research or study in the field of Pure Mathematics and Applied Mathematics. Focus and scope of BAREKENG: Jurnal ilmu Matematika dan Terapan, as follows: - Pure ...