Browsing NTNU Open by Author "Bryne, Torleiv Håland"
Now showing items 21-40 of 46
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Phased Array Radio Navigation System on UAVs: GNSS-based Calibration in the Field
Okuhara, Mika; Bryne, Torleiv Håland; Gryte, Kristoffer; Johansen, Tor Arne (Peer reviewed; Journal article, 2021)With global coverage, high accuracy, and lightweight receivers, global navigation satellite system (GNSS) has been the major positioning solution for unmanned aerial vehicles (UAV). However, GNSS is prone to electromagnetic ... -
Phased Array Radio Navigation System on UAVs: In-flight Calibration
Okuhara, Mika; Bryne, Torleiv Håland; Gryte, Kristoffer; Johansen, Tor Arne (Peer reviewed; Journal article, 2022)Global Navigation Satellite Systems (GNSS) has been the primary positioning solution for Unmanned Aerial Vehicles (UAVs) due to their worldwide coverage, high precision and lightweight receivers. However, GNSS is prone to ... -
Phased Array Radio Navigation System on UAVs: Real-Time Implementation of In-flight Calibration
Okuhara, Mika; Bryne, Torleiv Håland; Gryte, Kristoffer; Johansen, Tor Arne (Peer reviewed; Journal article, 2023)Unmanned aerial vehicles (UAV) require an alternative positioning system to the global navigation satellite systems (GNSS) for safety-critical operations since GNSS is prone to unintentional or malicious electromagnetic ... -
Phased array radio system aided inertial navigation for unmanned aerial vehicles
Albrektsen, Sigurd Mørkved; Bryne, Torleiv Håland; Johansen, Tor Arne (Journal article; Peer reviewed, 2018)Two of the major challenges with beyond visual line of sight (BVLOS) operations for unmanned aerial vehicles (UAVs) today are navigation and communication. This paper presents a solution that takes on both problems ... -
Phased-based Ranging for Navigation
Loftesnes, Hanne Karine (Master thesis, 2023)Det Globale Satelittnavigasjonsssystemet (GSNS) er sårbart for både bevisst og utilsiktet forstyrrelse på grunn av den svake signalstyrken. I kritiske scenarier blir det derfor nødvendig med en alternativ måte å finne ... -
Pose Estimation of UAVs Based on INS Aided by Two Independent Low-cost GNSS Receivers
Sollie, Martin Lysvand; Bryne, Torleiv Håland; Johansen, Tor Arne (Chapter, 2019)Increasing use of UAVs in high-precision applications, such as georeferencing and photogrammetry, increases the requirements on the accuracy of the estimated position, velocity and attitude of the vehicle. Commercial systems ... -
Precision control of fixed-wing UAV and robust navigation in GNSSdenied environments
Gryte, Kristoffer (Doctoral theses at NTNU;2020:198, Doctoral thesis, 2020)Unmanned aerial vehicles (UAVs) have been adopted to a wide range of applications, but fully autonomous flight is still utopian, especially for safety-critical applications. This thesis seeks to close this gap by mainly ... -
Predicting the Speed of a Wave-Propelled Autonomous Surface Vehicle Using Metocean Forecasts
Øveraas, Henning; Heggernes, A; Dallolio, Alberto; Bryne, Torleiv Håland; Johansen, Tor Arne (Chapter, 2022)Wave-propelled autonomous surface vehicles are becoming increasingly popular in oceanographic research due to their ability to provide persistent observations of the ocean environment. This type of vehicles are propelled ... -
Real-time Georeferencing of Thermal Images using Small Fixed-Wing UAVs in Maritime Environments
Helgesen, Håkon Hagen; Leira, Frederik Stendahl; Bryne, Torleiv Håland; Albrektsen, Sigurd Mørkved; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)This article considers real-time georeferencing using a fixed-wing unmanned aerial vehicle (UAV) with a thermal camera. A flexible system for direct georeferencing is proposed without the need for ground reference points. ... -
Reducing Ground Reflection Multipath Errors for Bluetooth Angle-of-Arrival Estimation by Combining Independent Antenna Arrays
Sollie, Martin Lysvand; Bryne, Torleiv Håland; Gryte, Kristoffer; Johansen, Tor Arne (Peer reviewed; Journal article, 2023)For outdoor navigation using Bluetooth direction finding, elevation angle estimate errors due to ground reflection multipath interference is a significant challenge at low elevation angles. One of the ways to reduce this ... -
Redundant MEMS-based Inertial Navigation using Nonlinear Observers
Rogne, Robert Harald; Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)We present two alternative methods for fault detection and isolation (FDI) with redundant Microelectromechanical system (MEMS) inertial measurement units (IMUs) in inertial navigation systems (INS) based on nonlinear ... -
Robust and secure UAV navigation using GNSS, phased-array radio system and inertial sensor fusion
Albrektsen, Sigurd Mørkved; Bryne, Torleiv Håland; Johansen, Tor Arne (Journal article; Peer reviewed, 2018)Positioning using global navigation satellite systems (GNSS) has for several years been the de facto method for long-range navigation of ground, marine and aerial vehicles. With global coverage, high accuracy, and lightweight ... -
Robust Phased Array Navigation in Reflective Prone Areas
Hasler, Oliver Kevin; Bryne, Torleiv Håland; Johansen, Tor Arne (Chapter, 2023)Navigation with a Phased Array Radio System (PARS) is prone to performance degradation due to radio wave reflections of the directed communication beam on reflective surfaces. This work presents a navigation algorithm, ... -
Semiglobally Asymptotically Stable Nonlinear Observer for Camera Aided Navigation
Bjørne, Elias; Brekke, Edmund Førland; Bryne, Torleiv Håland; Johansen, Tor Arne (Peer reviewed; Journal article, 2020)This brief presents a nonlinear observer that performs range estimation as well as gyro-bias estimation by using velocity, angular rate, and bearing angle measurements from landmarks at unknown locations. The observer is ... -
Sensor fusion of phased array radio and inertial sensor measurements using factor-graph-based optimisation
Synnevåg, Trym Andreassen (Master thesis, 2023)Å ta i bruk ubemannede luftfartøyer (UAV) gir en rekke fordeler for kommersielle og militære applikasjoner, med sin høye presisjon og kostnadseffektivitet. UAV-laboratoriet ved NTNU har drevet omfattende forskning på ... -
Sensor fusion of phased array radio bearing and inertial measurements using factor-graph-based optimization
Steinsland, Kristoffer (Master thesis, 2023)Globalt navigasjonssatellittsystem (GNSS) er den primære sensoren som brukes i moderne navigasjon. Imidlertid gjør noen scenarier GNSS upålitelig eller helt utilgjengelig. Fase-arrangerte radiosystemer (PARS) muliggjør en ... -
Sensor integration and timing in sensor fusion systems
Gimle, Jacob (Master thesis, 2022)Denne masteroppgaven beskriver utviklingen av algoritmer som blir brukt til å utføre tidssynkronisering i sensorfusjonssystemer. Disse algoritmene kan bli brukt i sanntid og økningen i tidssynkronisering kan føre til en ... -
Solution Separation-Based Integrity Monitor for Integrated GNSS/IMU/Camera Navigation: Constraining the Hypothesis Space With Deep Learning
Bosdelekidis, Vasileios; Johansen, Tor Arne; Sokolova, Nadezda; Bryne, Torleiv Håland (Peer reviewed; Journal article, 2023)This article introduces a method utilizing deep learning in typical Multiple Hypothesis Solution Separation (MHSS)-based Integrity Monitors (IMs) of autonomous vehicle navigation systems, when conventional sensors, such ... -
Solving Sparse Assignment Problems on FPGAs
Jellum, Erling Rennemo; Orlandic, Milica; Brekke, Edmund Førland; Johansen, Tor Arne; Bryne, Torleiv Håland (Peer reviewed; Journal article, 2022)The assignment problem is a fundamental optimization problem and a crucial part of many systems. For example, in multiple object tracking, the assignment problem is used to associate object detections with hypothetical ... -
The Syncline Model - Analyzing the Impact of Time Synchronization in Sensor Fusion
Jellum, Erling Rennemo; Bryne, Torleiv Håland; Johansen, Tor Arne; Orlandic, Milica (Chapter, 2022)The accuracy of sensor fusion algorithms are limited by either the intrinsic sensor noise, or by the quality of time synchronization of the sensors. While the intrinsic sensor noise only depends on the respective sensors, ...