Browsing NTNU Open by Author "Stovner, Bård Nagy"
Now showing items 1-7 of 7
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Aided Inertial Navigation of Underwater Vehicles
Stovner, Bård Nagy (Doctoral theses at NTNU;2018:96, Doctoral thesis, 2018)This thesis is motivated by cost reduction in subsea inspection, maintenance, and repair operations, which requires autonomy and automatic functionality in order to save time and money. Autonomy and automatic functions ... -
Attitude Estimation by Multiplicative eXogenous Kalman Filter
Stovner, Bård Nagy; Johansen, Tor Arne; Fossen, Thor I.; Schjølberg, Ingrid (Journal article, 2018)This paper presents a novel attitude estimator called the multiplicative exogenous Kalman filter. The estimator inherits the stability properties of a nonlinear observer and the near-optimal steady-state performance of the ... -
Globally Exponentially Stable Filters for Underwater Position Estimation Using an Array of Hydroacoustic Transducers on the Vehicle and A Single Transponder
Stovner, Bård Nagy; Johansen, Tor Arne; Schjølberg, Ingrid (Journal article; Peer reviewed, 2018)This paper presents two novel globally exponentially stable position estimators using hydroacoustic measurements from a single transponder to several transceivers on the vehicle. A comparison study of these and several ... -
Globally exponentially stable wind estimation for small fixed-wing UAVs using standard sensors
Stovner, Bård Nagy; Johansen, Tor Arne (Chapter, 2020)This paper considers the estimation of the steady wind component around small fixedwing unmanned aerial vehicles using measurements from a Pitot-static tube and velocity over ground information. A three-stage filter is ... -
GNSS-antenna lever arm compensation in aided inertial navigation of UAVs
Stovner, Bård Nagy; Johansen, Tor Arne (Chapter, 2019)This paper considers aided inertial navigation of unmanned aerial vehicles aided with position measurements from one or more global navigation satellite system antennas, where the exact positions of the antennas are assumed ... -
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). ... -
UAV Icing: Icing Cases for Validation of Path Planning Method
Cheung, Michael; Hann, Richard; Johansen, Tor Arne; Stovner, Bård Nagy (Peer reviewed; Journal article, 2023)As part of the complete solution to deal with atmospheric in-flight icing on unmanned aerial vehicles (UAV), a path planner is a valuable tool for finding an optimal path for accomplishing UAV missions. When considering ...