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

BAREKENG: Jurnal Ilmu Matematika dan Terapan · Vol. 17 No. 1 (2023) · pp. 0095–0100

DOI
10.30598/barekengvol17iss1pp0095-0100
ISSN
2615-3017, 1978-7227
Published
2023-04-15
Publisher
PATTIMURA UNIVERSITY
Language
eng
License
creativecommons.org/licenses/by-sa/4.0

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 %.

Collaboration network of the authors

30 authors · 87 co-authorship links · 12 across different organisations

Hover or tap a name to highlight its co-authors. Double-click to open the author's page.

  • Institut Teknologi Sepuluh Nopember
  • Universitas Nahdlatul Ulama Surabaya
  • Darul Ulum Islamic University
  • Universitas Muhammadiyah Malang
  • Universitas Airlangga
  • Affiliation unknown
  • Different organisations
  • Same organisation
  • Affiliation unknown
  • Thicker line = more joint articles · bigger circle = more articles
Show as table
Co-authorOrganisationJoint articles
Berny Pebo TomasouwAffiliation unknown13
Dieky AdzkiyaInstitut Teknologi Sepuluh Nopember4
Fajar Annas SusantoAffiliation unknown4
Katherin IndriawatiInstitut Teknologi Sepuluh Nopember4
Reza Maliki AkbarAffiliation unknown4
Firman YudiantoAffiliation unknown3
Abdul MuhithAffiliation unknown3
Vaizal Asy'ariAffiliation unknown2
Hamzah ArofAffiliation unknown2
Erna AprilianiInstitut Teknologi Sepuluh Nopember2
Mayga KikiInstitut Teknologi Sepuluh Nopember2
Thomy Eko SaputroUniversitas Muhammadiyah Malang2
Moch ZakariaAffiliation unknown2
Muhammad Sawal BaitalAffiliation unknown2
Angga Adhitya WidjanarkoAffiliation unknown2
Yuliyanto Agung PrabowoAffiliation unknown2
Subchan SubchanAffiliation unknown1
Nyoman JuniartaInstitut Teknologi Sepuluh Nopember1
Aji Akbar FirdausUniversitas Airlangga1
Ragil Puji RahayuAffiliation unknown1
Dina NovitaAffiliation unknown1
Arasy AlimudinAffiliation unknown1
Akas Yekti Pulih AsihAffiliation unknown1
Puguh TriwinantoAffiliation unknown1
Rachman Sinatriya MarjiantoAffiliation unknown1

Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://ojs3.unpatti.ac.id/index.php/barekeng/oai, first harvested 5 Nov 2026, last seen 5 Nov 2026.
Original metadata (oai_dc) 
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	<dc:title xml:lang="en-US">DIVING MOTION ESTIMATION OF REMOTELY OPERATED VEHICLE USING ENSEMBLE KALMAN FILTER AND H-INFINITY</dc:title>
	<dc:creator>Herlambang, Teguh</dc:creator>
	<dc:creator>Suryowinoto, Andy</dc:creator>
	<dc:creator>Adrianto, Dian</dc:creator>
	<dc:creator>Rahmalia, Dinita</dc:creator>
	<dc:creator>Nurhadi, Hendro</dc:creator>
	<dc:description xml:lang="en-US">ROV (Remotely Operated Vehicle) is a product of technological development, functioning to perform tasks in the&amp;nbsp; 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 %.</dc:description>
	<dc:publisher xml:lang="en-US">PATTIMURA UNIVERSITY</dc:publisher>
	<dc:date>2023-04-15</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://ojs3.unpatti.ac.id/index.php/barekeng/article/view/6640</dc:identifier>
	<dc:identifier>10.30598/barekengvol17iss1pp0095-0100</dc:identifier>
	<dc:source xml:lang="en-US">BAREKENG: Jurnal Ilmu Matematika dan Terapan; Vol 17 No 1 (2023): BAREKENG: Journal of Mathematics and Its Applications; 0095-0100</dc:source>
	<dc:source>2615-3017</dc:source>
	<dc:source>1978-7227</dc:source>
	<dc:source>10.30598/barekengvol17iss1year2023</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>info:eu-repo/grantAgreement/EC/FP7/123456</dc:relation>
	<dc:relation>https://ojs3.unpatti.ac.id/index.php/barekeng/article/view/6640/5513</dc:relation>
	<dc:rights xml:lang="en-US">info:eu-repo/semantics/openAccess</dc:rights>
	<dc:rights xml:lang="en-US">Copyright (c) 2023 Teguh Herlambang, Andy Suryowinoto, Dian Adrianto, Dinita Rahmalia, Hendro Nurhadi</dc:rights>
	<dc:rights xml:lang="en-US">http://creativecommons.org/licenses/by-sa/4.0</dc:rights>
</oai_dc:dc>