Browsing NTNU Open by Author "Rogne, Robert Harald"
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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 ... -
Embedded utvikling og design av bølgeestimator
Steinshamn, Tarjei (Master thesis, 2020)Programvare og algoritmer for estimering av bølgedata og sanntids-bølgehøyde ble implementert på en STM32 ARM-Cortex-M mikrokontroller. Bølgesensoren er laget til bruk på flytende målebøyer, til estimering av bølger og til ... -
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 ... -
Model Based on C/C++ for Simulation of a 3D Snake Robot with Experimental Validation
Rogne, Robert Harald (Master thesis, 2008)A simulator based on the Open Dynamics Engine (ODE) is presented in this report. The simulator is validated experimentally with varying results, but simulation speed and stability of the simulator is excellent. This report ... -
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 ... -
Observer and IMU-based Detection of Faults in Position Reference Systems and Gyrocompasses with Dual Redundancy in Dynamic Positioning
Rogne, Robert Harald; Johansen, Tor Arne; Fossen, Thor I. (Journal article; Peer reviewed, 2014)Faults in position reference systems and vessel sensors pose a serious hazard during dynamic positioning, and vessel drive-offs because of erroneous data may have dire consequences. The classification society standards ... -
Observer Design For Fault-Tolerant Dynamic Positioning Using MEMS Inertial Sensors
Rogne, Robert Harald (Doctoral theses at NTNU;2017:86, Doctoral thesis, 2017)The contribution of this disseration is threefold. First, it provides insight into the use of a certain type of nonlinear observers (NLO) for platform independent position, velocity and attitude estimation, exemplified by ... -
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 ... -
Redundant MEMS-based Inertial Navigation using Nonlinear Observers
Rogne, Robert Harald; Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)We present two alternative methods for fault detection and isolation (FDI) with redundant Microelectromechanical system (MEMS) inertial measurement units (IMUs) in inertial navigation systems (INS) based on nonlinear ...