Browsing NTNU Open by Author "Jørgensen, Erlend Kvinge"
Now showing items 1-6 of 6
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Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed
Jørgensen, Erlend Kvinge; Johansen, Tor Arne; Schjølberg, Ingrid (Journal article; Peer reviewed, 2016)This paper considers the problem of constructing a globally convergent position-and velocity estimator with close-to-optimal noise properties using hydroacoustic long baseline measurements. Three ways of improving the range ... -
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 ... -
Experimental Validation of End-Effector Stabilization for Underwater Vehicle-Manipulator Systems in Subsea Operations
Haugaløkken, Bent Oddvar Arnesen; Jørgensen, Erlend Kvinge; Schjølberg, Ingrid (Journal article, 2018)This paper considers the kinematic control approach for controlling an underwater vehicle-manipulator system. Three different kinematic control schemes have been applied, and the performance of each scheme is compared. The ... -
Fall Detection for the Elderly using Microsoft Kinect
Jørgensen, Erlend Kvinge (Master thesis, 2014)This thesis explores the use of Microsoft Kinect for fall detection of elders. Strengths and weaknesses are analyzed, and typical problems encountered when using the Kinect for fall detection in a home environment are ... -
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 ... -
Underwater Position and Attitude Estimation Using Acoustic, Inertial, and Depth Measurements
Jørgensen, Erlend Kvinge; Fossen, Thor I.; Bryne, Torleiv Håland; Schjølberg, Ingrid (Peer reviewed; Journal article, 2019)This article considers the problem of constructing an observer for estimating position, velocity, attitude, underwater wave speed, rate sensor bias, and accelerometer bias that has both proven stability and close-to-optimal ...