Blar i NTNU Open på forfatter "Bryne, Torleiv Håland"
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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 ... -
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) -
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 ... -
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) -
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 ... -
Lightweight UAV payload for image spectroscopy and atmospheric irradiance measurements
Hasler, Oliver Kevin; Winter, Adrian; Langer, Dennis David; Bryne, Torleiv Håland; Johansen, Tor Arne (Peer reviewed; Journal article, 2023)This paper presents a low-cost lightweight UAV payload for remote sensing purposes using a small imaging spectrometer made from COTS components. The novel design with an additional upward-facing spectrometer allows for ... -
Modeling and Control of a Four-wheel Autonomous Agricultural Robot
Cale, Rendell (Master thesis, 2021)Denne masteroppgaven utvikler et hierarkisk kontrollsystem for en 4-hjul-individuelt-styrt (4WIS) bil, som blir laget av det norske landbruksoppstartsselskapet AutoAgri. Et nytt type kontrollsystem som tillater simultan ... -
Navigation Algorithm-Agnostic Integrity Monitoring based on Solution Separation with Constrained Computation Time and Sensor Noise Overbounding
Bosdelekidis, Vasileios; Bryne, Torleiv Håland; Sokolova, Nadezda; Johansen, Tor Arne (Peer reviewed; Journal article, 2022)Integrity monitoring (IM) in autonomous navigation has been extensively researched, but currently available solutions are mainly applicable to specific algorithms and sensors, or limited by linearity or 'Gaussianity' ... -
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 with Time-Varying Gains for Inertial Navigation Aided by Satellite Reference Systems in Dynamic Positioning
Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne (Journal article, 2014)The measurement quality of Global Navigation Satellites Systems (GNSS) during marine operations will vary over time. Inherently, GNSS quality changes should be handled when GNSS is utilized as aid in inertial navigation ... -
Nonlinear Observers for Integrated INS/GNSS Navigation – Implementation Aspects
Bryne, Torleiv Håland; Hansen, Jakob Mahler; Rogne, Robert Harald; Sokolova, Nadezda; Johansen, Tor Arne; Fossen, Thor I. (Journal article, 2017)Navigation is a term with broad usage in everyday life and can mean the act of moving, moving through an unknown environment, ascertaining a craft's position, or even browsing on the Internet. Originally, the term meant ... -
On the Usage of Low-Cost MEMS Sensors, Strapdown Inertial Navigation and Nonlinear Estimation Techniques in Dynamic Positioning
Rogne, Robert Harald; Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne (Peer reviewed; Journal article, 2020)In this article, we suggest that a strapdown inertial navigation system based on microelectromechanical system (MEMS) inertial sensors is a useful addition to a vessel with dynamic positioning (DP). We conduct full-scale ... -
Outdoor Navigation Using Bluetooth Angle-of-Arrival Measurements
Sollie, Martin Lysvand; Gryte, Kristoffer; Bryne, Torleiv Håland; Johansen, Tor Arne (Journal article; Peer reviewed, 2022)