Blar i NTNU Open på forfatter "Fossen, Thor I."
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Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple-redundant sensor packages
Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)Marine craft feedback control systems typically require estimates of position, velocity and heading where the wave-induced motions should be suppressed. This paper presents a strapdown inertial navigation system with ... -
Design of Moving-mass and Dive-plane Control Systems for AUVs
Løvdal, Marcus Nicolai (Master thesis, 2021)I denne oppgaven er litteratursøk om «moving-mass» aktuering and kontroll for fartøy i forskjellige bruksområder gjennomført, inkludert forskjellige konfigurasjoner av aktueringen. Fordeler og ulemper med å implementere ... -
Development and experimental evaluation of visual-acoustic navigation for safe maneuvering of unmanned surface vehicles in harbor and waterway areas
Volden, Øystein; Cabecinhas, David; Pascoal, Antonio; Fossen, Thor I. (Peer reviewed; Journal article, 2023)Ship maneuvering in narrow harbor environments requires accurate navigation data to operate safely. Since Global Navigation Satellite Systems (GNSS) can be unreliable and inaccurate in such environments, other aiding ... -
Development and Experimental Validation of Visual-Inertial Navigation for Auto-Docking of Unmanned Surface Vehicles
Volden, Øystein; Stahl, Annette; Fossen, Thor I. (Peer reviewed; Journal article, 2023)Docking is a safety-critical operation for autonomous surface vehicles and requires highly accurate navigation signals. Since Global Navigation Satellite Systems (GNSS) can be unreliable and inaccurate in urban environments, ... -
Estimation of Angle of Attack and Sideslip Angle applied in an Airborne Wind Energy System
Schiager, Per Johannes Andresen (Master thesis, 2019)Hovedbidraget i denne oppgaven er implementasjon og anvendelse av en metode for estimering av angrepsvinkler for ubemannede luftfartøy - anvendt på teknologi for utnyttelse av høydevindkraft. Den implementerte metoden er ... -
eXogenous Kalman Filter (XKF) for Visualization and Motion Prediction of Ships using Live Automatic Identification Systems (AIS) Data
Fossen, Sindre; Fossen, Thor I. (Journal article; Peer reviewed, 2018)This paper addresses the problem of ship motion estimation using live data from Automatic Identification Systems (AIS). A globally exponentially stable observer for visualization and motion prediction of ships has been ... -
Experimental validation of attitude and rate-sensor bias filter using range-difference measurements
Jørgensen, Erlend Kvinge; Fossen, Thor I.; Schjølberg, Ingrid; Esperanca, Paulo TT (Peer reviewed; Journal article, 2018)This paper considers the problem of constructing a filter for estimating attitude and rate-sensor bias, that has both proven stability and close-to-optimal performance with respect to noise. The filter is based on measuring ... -
Extended Kalman Filter Design and Motion Prediction of Ships using Live Automatic Identification System (AIS) Data
Fossen, Sindre; Fossen, Thor I. (Chapter, 2018)This paper addresses the problem of ship motion estimation using live data from Automatic Identification Systems (AIS) and extended Kalman filter (EKF) design. AIS data are transmitted from ships globally and a very-high ... -
Feedback Error-state Kalman Filter with Time-delay Compensation for Hydroacoustic-aided Inertial Navigation of Underwater Vehicles
Fossen, Thor I. (Peer reviewed; Journal article, 2023)This article is intended as a tutorial to assist engineers who want to develop and implement low-cost underwater vehicle inertial navigation systems (INS) aided by time-delayed hydroacoustic position measurements. A ... -
Feedback Linearization Control for Systems with Mismatched Uncertainties via Disturbance Observers
Kayacan, Erkan; Fossen, Thor I. (Peer reviewed; Journal article, 2018)This paper focuses on a novel feedback linearization control (FLC) law based on a self-learning disturbance observer (SLDO) to counteract mismatched uncertainties. The FLC based on BNDO (FLC-BNDO) demonstrates robust control ... -
Five-State Extended Kalman Filter for Estimation of Speed Over Ground (SOG), Course over Ground (COG), and Course Rate of Unmanned Surface Vehicles (USVs): Experimental Results
Fossen, Sindre; Fossen, Thor I. (Peer reviewed; Journal article, 2021)Small USVs are usually equipped with a low-cost navigation sensor suite consisting of a global navigation satellite system (GNSS) receiver and a magnetic compass. Unfortunately, the magnetic compass is highly susceptible ... -
Geometric Reduced-Attitude Control of Fixed-Wing UAVs
Coates, Erlend M.; Fossen, Thor I. (Peer reviewed; Journal article, 2021)This paper presents nonlinear, singularity-free autopilot designs for multivariable reduced-attitude control of fixed-wing aircraft. To control roll and pitch angles, we employ vector coordinates constrained to the unit ... -
Guidance, Navigation and Control System for Agile Vehicles
Ward, Henning (Master thesis, 2019)Et pålitelig guiding-, navigasjons- og kontrollsystem (GNC) er en viktig del av et vellykket målsporings-scenario. I denne avhandlingen vil et GNC-system bli utviklet, og sammen- lignet med moderne systemer, mye brukt i ... -
Heave Motion Estimation on a Craft Using a Strapdown Inertial Measurement Unit
Auestad, Øyvind Fidje; Gravdahl, Jan Tommy; Fossen, Thor I. (Journal article; Peer reviewed, 2013)This paper deals with heave position and heave velocity estimation on a craft. The estimation is done without any knowledge of the specified craft. An accurate estimation of these signals is useful when one wants to control ... -
Hijacking of unmanned surface vehicles: A demonstration of attacks and countermeasures in the field
Solnør, Petter; Volden, Øystein; Gryte, Kristoffer; Petrovic, Slobodan; Fossen, Thor I. (Peer reviewed; Journal article, 2022)Driven by advances in information and communication technologies, an increasing number of industries embrace unmanned and autonomous vehicles for services, such as public transportation, shipping, mapping, and remote ... -
A Hybrid Approach to Motion Prediction for Ship Docking— Integration of a Neural Network Model into the Ship Dynamic Model
Skulstad, Robert; Li, Guoyuan; Fossen, Thor I.; Vik, Bjørnar; Zhang, Houxiang (Peer reviewed; Journal article, 2020)While automatic controllers are frequently used during transit operations and low-speed maneuvering of ships, ship operators typically perform docking maneuvers. This task is more or less challenging depending on factors ... -
Inertial Sensors for Risk-Based Redundancy in Dynamic Positioning
Bryne, Torleiv Håland; Rogne, Robert Harald; Fossen, Thor I.; Johansen, Tor Arne (Chapter, 2017)In this paper we present an alternative configuration of sensors, position and heading reference systems for dynamically positioned (DP) vessels. The approach uses a sensor structure based on low-cost inertial measurements ... -
Kalman Filters for Air Data System Bias Correction for a Fixed-Wing UAV
Borup, Kasper Trolle; Stovner, Bård Nagy; Fossen, Thor I.; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)This paper presents two Kalman filter approaches for correcting air data systems providing relative velocity measurements with an additive constant or slowly time-varying bias for fixed-wing unmanned aerial vehicles (UAVs). ... -
Line-of-Sight Curved Path Following for Underactuated USVs and AUVs in the Horizontal Plane under the influence of Ocean Currents
Fossen, Thor I.; Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)An essential ability of autonomous unmanned surface vessels (USVs) and autonomous underwater vehicles (AUVs) moving in a horizontal plane is to follow a general two-dimensional path in the presence of unknown ocean currents. ... -
Line-of-Sight Path Following for Dubins Paths with Adaptive Sideslip Compensation of Drift Forces
Fossen, Thor I.; Pettersen, Kristin Ytterstad; Galeazzi, Roberto (Journal article; Peer reviewed, 2014)We present a nonlinear adaptive path-following controller that compensates for drift forces through vehicle sideslip. Vehicle sideslip arises during path following when the vehicle is subject to drift forces caused by ocean ...