Blar i NTNU Open på forfatter "Bryne, Torleiv Håland"
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A comparison study between the traditional Error-state and the Invariant Extended Kalman filter for Aided Inertial Navigation
Bjerkestrand, Simen Kartveit (Master thesis, 2024)Lie-teori og invariant Kalman-filtreringsteori presenteres, deretter utledes Multiplicative Extended Kalman filter (MEKF) og Left-invariant Extended Kalman filter (LIEKF) basert på matrise Lie-gruppene SE(3) og SE_2(3) ... -
A Reactor-Based Programming Model for Time-Critical Robotic Sensor Fusion
Lunde, Ekolai Linus Bang (Master thesis, 2024)Denne avhandlingen undersøker effekten av programmeringsmodeller på sensorfusjon i robotapplikasjoner. Den introduserer og evaluerer en ny reaktorbasert modell kalt Lingua Franca (LF), og sammenligner den med det mye brukte ... -
A virtual vertical reference concept for aided inertial navigation at the sea surface
Bryne, Torleiv Håland; Rogne, Robert Harald; Fossen, Thor I.; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)When trying to capture the heaving motion of a marine vessel in waves, conventional position references such as global navigation satellite systems fall short in many cases. Because of design and satellite geometry, the ... -
Aided Inertial Navigation of Small Unmanned Aerial Vehicles Using an Ultra-Wideband Real Time Localization System
Cisek, Krzysztof; Gryte, Kristoffer; Bryne, Torleiv Håland; Johansen, Tor Arne (Journal article; Peer reviewed, 2018)This paper presents an ultra-wideband (UWB) radio aided inertial navigation system (INS), estimating position, velocity and attitude (PVA), based on a low-cost microelectro-mechanical system (MEMS) Inertial Measurement ... -
Automatic Recovery of Fixed-Wing Unmanned Aerial Vehicle Using Bluetooth Angle-of-Arrival Navigation
Sollie, Martin Lysvand; Gryte, Kristoffer; Bryne, Torleiv Håland; Johansen, Tor Arne (Journal article; Peer reviewed, 2024)We demonstrate that the Bluetooth 5.1 Angle-of-Arrival feature can be used as a navigation system for automatic recovery of a fixed-wing unmanned aerial vehicle (UAV), guiding the UAV into an arrest system such as a suspended ... -
Choice and design of 6 degree-of-freedom observer for ROVs operating in fish farms in the presence of time-varying environmental disturbances
Stenså, Olav Austrheim (Master thesis, 2023)Fjernstyrte undervannsfarkoster (ROVer) har blitt et nyttig verktøy for inspeksjon og vedlikehold i oppdrettsnæringen. Denne oppgaven dokumenterer valg, utvikling, implementering og fullskala testing av en observer til en ... -
Composable distributed real-time systems with deterministic network channels
Austad, Henrik; Jellum, Erling Rennemo; Hendseth, Sverre; Mathisen, Geir; Bryne, Torleiv Håland; Gregertsen, Kristoffer Nyborg; Albrektsen, Sigurd Mørkved; Helvik, Bjarne Emil (Peer reviewed; Journal article, 2023) -
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 ... -
Direct georeferencing for Hyperspectral Imaging of ocean surface
Hasler, Oliver Kevin; Løvås, Håvard Snefjellå; Bryne, Torleiv Håland; Johansen, Tor Arne (Peer reviewed; Journal article, 2023)This paper presents a low-cost, low-weight setup for aerial imaging spectroscopy and an effective methodology for direct georeferencing onto the sea surface. The algorithm and the miniaturized payload described in this ... -
Dynamic positioning of ROV in the wave zone during launch and recovery from a small surface vessel
Landstad, Olav (Master thesis, 2020) -
Elevation Angle Redundancy from Barometric Altitude in Multipath-affected Phased Array Radio Navigation of UAVs
Okuhara, Mika; Bryne, Torleiv Håland; Gryte, Kristoffer; Johansen, Tor Arne (Journal article; Peer reviewed, 2024)Phased Array Radio Systems (PARS) are a promising alternative or backup to Global Navigation Satellite Systems (GNSS) based positioning, offering higher signal-to-noise ratio (SNR), narrow beam communication and robust ... -
Fault Detection, Isolation and Recovery for the HYPSO Cubesats
Andresen, Henning Granne (Master thesis, 2024)Denne oppgaven beskriver hvordan Fault Detection, Isolation and Recovery (FDIR) kan brukes for å håndtere sensoravvik observert på HYPSO-1 satellitten. FDIR-løsningene som er benyttet, er testet for å redusere eventuelle ... -
Fault-tolerant Sensor Fusion Based on Inertial Measurements and GNSS
Bryne, Torleiv Håland (Master thesis, 2013)The standard observer for inertial navigation system (INS) have for many years been the extended Kalman filter. Due to extensive research, in recent years, on nonlinear observer applied with low-cost inertial sensors can ... -
Field Test Results of GNSS-denied Inertial Navigation aided by Phased-array Radio Systems for UAVs
Gryte, Kristoffer; Bryne, Torleiv Håland; Albrektsen, Sigurd Mørkved; Johansen, Tor Arne (Chapter, 2019)Unmanned aerial vehicles (UAVs) often depend on global navigation satellite systems (GNSS) and magnetic compasses for navigation, making them exposed to malicious attacks and sensitive to magnetic anomalies, while restricting ... -
From Do-It-Yourself Design to Discovery: A Comprehensive Approach to Hyperspectral Imaging from Drones
Hasler, Oliver Kevin; Løvås, Håvard Snefjellå; Oudijk, Adrienne Esmeralda; Bryne, Torleiv Håland; Johansen, Tor Arne (Journal article; Peer reviewed, 2024)This paper presents an innovative, holistic, and comprehensive approach to drone-based imaging spectroscopy based on a small, cost-effective, and lightweight Unmanned Aerial Vehicle (UAV) payload intended for remote sensing ... -
Globally Stable Velocity Estimation Using Normalized Velocity Measurement
Bjørne, Elias; Brekke, Edmund Førland; Bryne, Torleiv Håland; Delaune, Jeff; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)The problem of estimating velocity from a monocular camera and calibrated inertial measurement unit (IMU) measurements is revisited. For the presented setup, it is assumed that normalized velocity measurements are available ... -
GNSS-denied collaborative navigation of unmanned surface vessels using Maritime Broadband Radio
Sørensen, Glen Hjelmerud Mørkbak (Master thesis, 2021)In conventional navigation systems, inertial sensors measuring relative movement are combined with an absolute position reference in order to avoid drift over time due to the noisiness of the inertial measurements. Aglobal ... -
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 ... -
Integrity Monitoring for Visual and Multi-Sensor Navigation Systems
Bosdelekidis, Vasileios (Doctoral theses at NTNU;2024:259, Doctoral thesis, 2024) -
Lie-Theory-based Error-State Kalman Filter for Aided Inertial Navigation Systems
Sadeghi, Shabnam (Master thesis, 2024)Denne oppgava utforsker utviklingen og anvendelsen av flere feiltilstands-Kalman-filtre (ESKF) på Lie-grupper for GNSS-støttede treghetsnavigasjonssystemer (INS). Tradisjonelle INS er avhengige av treghetssensorer som ...