Browsing NTNU Open by Author "Fossen, Thor Inge"
Now showing items 41-60 of 82
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Integrated Mechanical and Hydrodynamic Modeling of Offshore Floating Wind Turbines
Pedersen, Morten Dinhoff (Master thesis, 2009)This thesis presents the development of a nonlinear mechanical and hydrodynamical model for floating offshore wind turbines. The model employs results from robotics to model the equations of motion. A simple rigid-body ... -
Integration of RTK GPS and IMU for Accurate UAV Positioning - Integrasjon av RTK GPS og IMU for nøyaktig UAV-posisjonering
Spockeli, Bjørn Amstrup (Master thesis, 2015)Real-Time Kinematic GPS (RTK GPS) can provide centimeter accuracy and may be used for high accuracy positioning of Unmanned Aerial Vehicles (UAVs).In order to compute its position a Global Navigation Satellite System (GNSS) ... -
Line-of-sight path-following control utilizing an extended Kalman filter for estimation of speed and course over ground from GNSS positions
Fossen, Thor Inge (Journal article; Peer reviewed, 2022) -
Localization and Tracking of Ships and Objects Using a UAV Mounted Thermal Imaging Camera.
Trnka, Kenan (Master thesis, 2015)This thesis presents the creation of a payload system for a small unmanned aircraft, which is used for data collection and testing of detection and tracking theory. Theory for position estimation of on-ground or on-sea ... -
Maritime multi-target tracking with radar and asynchronous transponder measurements
Hem, Audun Gullikstad (Master thesis, 2021)Denne avhandlingen presenterer en ny metode for å bruke en type målinger med unike IDer, sendt ut av omkringliggense fartøy, i en radar-basert målfølgingsalgoritme. Det tiltenkte bruksområdet er i maritim målfølging, og ... -
Maritime Target Tracking with Exteroceptive Sensors and Target-Provided Information
Hem, Audun Gullikstad (Doctoral theses at NTNU;2024:218, Doctoral thesis, 2024)Autonomous and unmanned operations at sea are becoming increasingly common. However, as the operational goals increase in ambition, the existing methods show their weaknesses. The maritime domain can be complex and ... -
Model-free IMU-based DP State Estimator
Østrem, Tor Eirik (Master thesis, 2014)The main goal of this thesis has been to develop a new model-free state estimator for dynamic positioning, based on an inertial measurement unit, a gyrocompass and a position reference system. The state estimator should ... -
Modeling and Control of Parametric Resonance in Ships
Breu, Dominik Andreas (Master thesis, 2009)This report considers two different approaches to control the roll motion of ships which experience parametric roll resonance. An Extremum Seeking feedback controller is designed which iteratively determines the optimal ... -
Modeling and Control of VTOL Flying Wing with Thrust Vectoring
Furseth, Jostein (Master thesis, 2015)A simulator for the complete vehicle dynamics, as well as a flight control system, have been implemented in MATLAB/Simulink. The simulator enables easier development and testing of the control system, and provides valuable ... -
Modeling and Control of Wave Energy Converters
Hoen, Marthe Kristine Tautra (Master thesis, 2009)Wave Power is a technology that was founded in the 70's, but which still not has reached full industrial recognition as a energy source. In this thesis there is a literature study on different concepts of Wave Energy ... -
Modeling and Simulation of Anchor Handling Vessels
Wennersberg, Lars Andreas Lien (Master thesis, 2009)The topic of this thesis is modeling and simulation of anchor handling vessels. Computer simulations of anchor handling vessels can be used to evaluate the forces acting on them, and to gain valuable insight into their ... -
Modelling and Control of Anti-Roll Tanks
Hildrestrand, Jon Robert Seth (Master thesis, 2010)A ship out at sea is exposed to environmental forces in addition to those generated by the ship's actuators. It is these forces that make the ship move. However, in some cases the ship moves in an undesirable way. Because ... -
Multicopter Attitude Estimation with North-Seeking Capabilities
Mathisen, Pål Holthe (Master thesis, 2018)This thesis deals with attitude measurement by fusing sensor information from accelerometers, gyros and position aiding in the form of a pseudorange measurement system, on a multicopter system. This is motivated by multicopter ... -
Navigation and Control of Underwater Robotic Vehicles
Jørgensen, Erlend Kvinge (Doctoral theses at NTNU;2018:86, Doctoral thesis, 2018)The thesis considers navigation and control of underwater robotic vehicles, and is divided into two parts, with more emphasis on Part II. Part I considers stabilization of the end effector of an underwater vehicle-manipulator ... -
Nonlinear Autonomous Docking and Path-Following Control Systems for the Otter USV
Torvund, Per Gunnar Berg (Master thesis, 2020)Denne oppgaven gikk ut på å bruke ulineære kontrollalgoritmer for autonom dokking, banefølging og hinderunngåelse for Maritime Robotics sin minste overflatefarkost, "Oteren". Autonom dokking er for tiden et hett tema der ... -
Nonlinear Identification of Ship Autopilot Models
Ødegård, Vidar (Master thesis, 2009)The purpose of this thesis has been to develop methods for identification of nonlinear models to be used in ship autopilots. An accurate model is essential when developing autopilot systems. Although a number of identification ... -
Nonlinear modelling and control of underwater vehicles
Fossen, Thor Inge (Dr. ingeniøravhandling, 0809-103X; 1999:39, Doctoral thesis, 1991) -
Nonlinear Observer Design for Aided Inertial Navigation of Ships
Bryne, Torleiv Håland (Doctoral theses at NTNU;2017:85, Doctoral thesis, 2017)This thesis focuses on strapdowninertial navigation systems for marine vessels, exploiting low-cost micro-electro-mechanical-systems (MEMS) inertial sensors and nonlinear observers for sensor fusion. The motivation behind ... -
Nonlinear Observer Design for GNSS and IMU Integration
Nøkland, Harald (Master thesis, 2011)In order to efficiently control an unmanned vehicle, knowledge about the position, velocity and attitude (orientation) is needed. This thesis address this problem, and designs a navigation system for local navigation using ... -
Nonlinear Observers for Inertial Systems aided by Real-Time Kinematic Global Navigation Satellite Systems
Hansen, Jakob Mahler (Doctoral theses at NTNU;2017:61, Doctoral thesis, 2017)This thesis is motivated by recent interest in nonlinear observers for navigation. The field of navigation is dominated by the Kalman filter and its variants. However, nonlinear observers offer some advantages, compared ...