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All Journal International Journal of Electrical and Computer Engineering Jurnal Teknik ITS Teknika: Engineering and Sains Journal Jurnal Ilmiah Universitas Batanghari Jambi INOVTEK Polbeng - Seri Informatika BAREKENG: Jurnal Ilmu Matematika dan Terapan ASRO JOURNAL - STTAL International Journal of Computing Science and Applied Mathematics Zeta - Math Journal Prosiding Seminar Nasional Sains dan Teknologi Terapan InPrime: Indonesian Journal Of Pure And Applied Mathematics Jurnal Nasional Aplikasi Mekatronika, Otomasi dan Robot Industri (AMORI) Sewagati
Hendro Nurhadi
Institut Teknologi Sepuluh Nopember Surabaya
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Journal : InPrime: Indonesian Journal Of Pure And Applied Mathematics

 1 
Comparison of AUV Position Estimation Using Kalman Filter, Ensemble Kalman Filter and Fuzzy Kalman Filter Algorithm in the Specified Trajectories Ngatini Ngatini; Erna Apriliani; Hendro Nurhadi
InPrime: Indonesian Journal of Pure and Applied Mathematics Vol 4, No 1 (2022)
Publisher : Department of Mathematics, Faculty of Sciences and Technology, UIN Syarif Hidayatullah

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.15408/inprime.v4i1.22912

Abstract

This research explains a comparison estimation for AUV position using Kalman Filter (KF), Ensemble Kalman Filter (EnKF), and Fuzzy Kalman Filter (FKF) algorithm in some specified trajectories. Estimation is developed for AUV Segorogeni ITS which was built by the Institute Technology of Sepuluh Nopember (ITS), Indonesia. The specified trajectories are the diving, straight, and turning path which is the real trajectories. We compare the result estimation for each of the trajectories from the simulation and the RMSE (Root Mean Square Error). In this case, the best estimation is given by the difference estimation method. Fuzzy Kalman Filter gives the best result for the diving trajectory (Y-position and angle) and the straight trajectory. Ensemble Kalman Filter (EnKF) gives the best result for the X-position in the diving trajectory. While Kalman Filter gives the best result for the straight trajectory.Keywords: AUV; Kalman Filter (KF); Ensemble Kalman Filter (EnKF); Fuzzy Kalman Filter (FKF); AUV Segorogeni ITS. AbstrakPenelitian ini menjelaskan tentang perbandingan estimasi untuk posisi AUV antara algoritma Kalman Filter (KF), Ensemble Kalman Filter (EnKF) dan Fuzzy Kalman Filter (FKF) untuk trayektori tertentu. Estimasi dilakukan terhadap AUV Segorogeni ITS yang dibuat oleh ITS (Institut Teknologi Sepuluh Nopember), Indonesia. Trayektori yang diberikan adalah menyelam, lurus dan lintasan membelok yang merupakan lintasan real. Peneliti melakukan perbandingan untuk setiap lintasan berdasarkan hasil simulasi dan Root Mean Square Error (RMSE). Pada kasus ini estimasi terbaik diberikan oleh metode yang berbeda. Fuzzy Kalman Filter memberikan hasil terbaik untuk lintasan berbelok pada posisi-Y dan pada garis lurus. Ensemble Kalman Filter memberikan estimasi terbaik untuk posisi-X pada lintasan menyelam. Sedangkan Kalman Filter memberikan hasil terbaik untuk lintasan lurus.Kata kunci: AUV; Kalman Filter (KF); Ensemble Kalman Filter (EnKF); Fuzzy Kalman Filter (FKF); AUV Segorogeni ITS.
Comparison of AUV Position Estimation Using Kalman Filter, Ensemble Kalman Filter and Fuzzy Kalman Filter Algorithm in the Specified Trajectories Ngatini, Ngatini; Apriliani, Erna; Nurhadi, Hendro
InPrime: Indonesian Journal of Pure and Applied Mathematics Vol 4, No 1 (2022)
Publisher : Department of Mathematics, Faculty of Sciences and Technology, UIN Syarif Hidayatullah

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.15408/inprime.v4i1.22912

Abstract

This research explains a comparison estimation for AUV position using Kalman Filter (KF), Ensemble Kalman Filter (EnKF), and Fuzzy Kalman Filter (FKF) algorithm in some specified trajectories. Estimation is developed for AUV Segorogeni ITS which was built by the Institute Technology of Sepuluh Nopember (ITS), Indonesia. The specified trajectories are the diving, straight, and turning path which is the real trajectories. We compare the result estimation for each of the trajectories from the simulation and the RMSE (Root Mean Square Error). In this case, the best estimation is given by the difference estimation method. Fuzzy Kalman Filter gives the best result for the diving trajectory (Y-position and angle) and the straight trajectory. Ensemble Kalman Filter (EnKF) gives the best result for the X-position in the diving trajectory. While Kalman Filter gives the best result for the straight trajectory.Keywords: AUV; Kalman Filter (KF); Ensemble Kalman Filter (EnKF); Fuzzy Kalman Filter (FKF); AUV Segorogeni ITS. AbstrakPenelitian ini menjelaskan tentang perbandingan estimasi untuk posisi AUV antara algoritma Kalman Filter (KF), Ensemble Kalman Filter (EnKF) dan Fuzzy Kalman Filter (FKF) untuk trayektori tertentu. Estimasi dilakukan terhadap AUV Segorogeni ITS yang dibuat oleh ITS (Institut Teknologi Sepuluh Nopember), Indonesia. Trayektori yang diberikan adalah menyelam, lurus dan lintasan membelok yang merupakan lintasan real. Peneliti melakukan perbandingan untuk setiap lintasan berdasarkan hasil simulasi dan Root Mean Square Error (RMSE). Pada kasus ini estimasi terbaik diberikan oleh metode yang berbeda. Fuzzy Kalman Filter memberikan hasil terbaik untuk lintasan berbelok pada posisi-Y dan pada garis lurus. Ensemble Kalman Filter memberikan estimasi terbaik untuk posisi-X pada lintasan menyelam. Sedangkan Kalman Filter memberikan hasil terbaik untuk lintasan lurus.Kata kunci: AUV; Kalman Filter (KF); Ensemble Kalman Filter (EnKF); Fuzzy Kalman Filter (FKF); AUV Segorogeni ITS.
Co-Authors A.A. Ketut Agung Cahyawan W Abdul Muhith Adi Setyo Purnomo Adrianto, Dian Ahadiyat Luhung Jati Akbar, Reza Maliki Alvin Oktaviantara Dwi Putra Alya Awinatul Rohmah Andy Suryowinoto Ardi Dara Yuda Arief, M. Romli Arif Wahjudi Arif Wahyudi Aristo Ramadhani Asranudin Asranudin Asranudin Badzlin Nabila Badzlin Nabilah Billy Ekaputra Citra ‘Aaqilatul Fa’aidah Dedy Zulhidayat Noor Diah Trisna Rahayu Lestari Didik Prasetyoko Diecky Adzkiya Dieky Adzkiya Dimas Kunto Ariwibowo Dini Ermavitalini Dinita Rahmalia, Dinita Djohana Tri Lois Moyo Djoko Kuswanto Eka Pratiwi Yuniarti Erna Apriliani Erwin Widodo Fazad, M. Haikhal Halimah, Adedila Hamdan Dwi Rizqi Hanifah Zaizafun Losu Herdayanto Sulistyo Putro Heru Mirmanto Imam Wahyudi Iman, Muhammad Ilham Nur Indrapaksi, Tengku Ikhwan Alfajri Irhamah Jati, Ahadiyat Luhung Karina Harley Aulia Rizky Katherin Indriawati Laudy Nasya Yanuar Lavida Aisya Salvanora Lea Kristina Anggraeni Mashuri Mashuri Mayga Kiki Miftahul Huda Mochammad Iqbal Asskhaaf Mufidah, Iftin Farekana Muhammad Lukman Hakim Muhammad Lukman Hakim, Muhammad Lukman Muntari Muntari Ngatini Ngatini Ngatini, Ngatini Noor, Dedy Zulhidayat Nourma Sulistyowati Novia Nurul Hidayah Nur Aini Rakhmawati Nur Khoiriyah Nur Muhammad Adi Yahya Octaviani, Wulan Nur Oktavianto, Lucky Prasetiyo, Sandro Pratama, Silvia Abdi Pratiwi, Tasya Resa Putro, Herdayanto Sulistyo Refdinal Nawfa Riska Aprilia Rohmah, Alya Awinatul Sandro Prasetiyo Setiawan, Gede Wisnu SRI FATMAWATI Sri Fatmawati Subchan Subchan Subchan Subchan Subchan, Subchan Surya Rosa Putra Surya Rosa Putra, Surya Rosa Suryo Wiyono Susanto, Fajar Annas Taufiq Rinda Alkas Teguh Herlambang Tomasouw, Berny Pebo Triono Bagus Saputro, Triono Bagus Widhayanti, Nur Ari Widi Muranata Wisnu Wardhana Yuda, Ardi Dara Yunita Alfiyati Firdausa Zahra Salsabila