Penentuan Arah Kedatangan Objek Bawah Air pada Lingkungan yang Tidak Pasti Menggunakan Hydrophone Array

Alatas, Syahmi Fikri (2026) Penentuan Arah Kedatangan Objek Bawah Air pada Lingkungan yang Tidak Pasti Menggunakan Hydrophone Array. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penentuan arah kedatangan (Direction of Arrival, DoA) objek bawah air menghadapi tantangan akibat multipath, derau, dan keterbatasan array. Penelitian ini mengembangkan metode estimasi DoA menggunakan Hydrophone Array lima elemen berkonfigurasi Uniform Linear Array (ULA) dengan jarak antar elemen 10 cm. Algoritma Multiple Signal Classification (MUSIC) diimplementasikan pada MATLAB dan dipadukan dengan analisis waktu–frekuensi (STFT/FFT) untuk menjejak frekuensi dominan target sekaligus mengompensasi pergeseran frekuensi akibat efek Doppler. Pengujian dilakukan melalui simulator serta pengukuran nyata terhadap dua target, yaitu penyelam dan model kapal, di Kolam MOB (Manouvering Ocean Basin) dan Kolam Luar BRIN. Hasil estimasi dibandingkan dengan data acuan menggunakan metrik MAE, RMSE, bias, dan kesalahan maksimum. Akurasi terbaik diperoleh pada target model kapal di Kolam Luar BRIN dengan frekuensi propeler sekitar 3,4 kHz, yaitu MAE 6,9–8,5°, sedangkan akurasi menurun pada frekuensi rendah di Kolam MOB dan target penyelam. Faktor penentu akurasi yang paling dominan adalah kesesuaian frekuensi kerja terhadap geometri array (rasio d/λ), diikuti oleh multipath, ambiguitas ULA, dan kalibrasi broadside. Penelitian ini menunjukkan metode MUSIC efektif untuk estimasi DoA bawah air pada kondisi yang sesuai.
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Determining the direction of arrival (DoA) of underwater objects faces challenges due to multipath, noise, and array limitations. This study develops a DoA estimation method using a five-element Hydrophone Array configured with a Uniform Linear Array (ULA) with a 10 cm element spacing. The Multiple Signal Classification (MUSIC) algorithm is implemented in MATLAB and combined with time–frequency analysis (STFT/FFT) to track the dominant target frequency while compensating for frequency shifts due to the Doppler effect. Tests are conducted using a simulator and real-world measurements on two targets, namely a diver and a ship model, in the MOB Pool and the BRIN Outer Pool. The estimation results are compared with reference data using MAE, RMSE, bias, and maximum error metrics. The best accuracy is obtained on the ship model target in the BRIN Outer Pool with a propeller frequency of around 3.4 kHz, namely MAE 6.9–8.5°, while accuracy decreases at lower frequencies in the MOB Pool and the diver target. The most dominant determinant of accuracy is the matching of the operating frequency to the array geometry (d/λ ratio), followed by multipath, ULA ambiguity, and broadside calibration. This study shows that the MUSIC method is effective for underwater DoA estimation under suitable conditions.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Direction of Arrival, Hydrophone Array, ULA, Akustik Bawah Air, Multipath, Direction of Arrival, Hydrophone Array, ULA, Underwater Acoustics, Multipath
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5102.9 Signal processing. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5101 Telecommunication
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Telecommunication Engineering > 20202-(S1) Undergraduate Thesis
Depositing User:	Syahmi Fikri Alatas
Date Deposited:	24 Jul 2026 08:52
Last Modified:	24 Jul 2026 08:53
URI:	http://repository.its.ac.id/id/eprint/137183

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