NavLab publications

• K B Ånonsen. K Gade, O K Hagen (2020):
  AUV Navigation - Challenges and Solutions
  Chapter 5 of Autonomous Underwater Vehicles, Ed. Frank Ehlers, IET Books, London, UK, 2020.
  
  
• N Ødegaard, K Gade (2018):
  Use of n-vector for Radar Applications
  Proceedings of the 19th International Radar Symposium IRS 2018, June 20-22, Bonn, Germany ©2018 DGON
  
  
• K Gade (2018):
  Inertial Navigation - Theory and Applications
  Thesis for the degree of Dr. Philos. Department of Engineering Cybernetics, NTNU (Norwegian University of Science and Technology).
  (version where papers are replaced by links is available here)
  
  
• S. Baheerathan, O K Hagen (2018):
  Image-aided inertial navigation for an Octocopter
  Proceedings of SPIE Defense + Security, Orlando, FL, USA, May 2018
  
  
• O K Hagen, K B Ånonsen (2018):
  Terrain referenced navigation using sand dunes and sand ripples in presence of tides
  Proceedings of the IEEE Oceans Conference, Charleston, SC, USA, October 2018
  
  
• K B Ånonsen, O K Hagen, E Berglund (2017):
  Autonomous Mapping For AUVs Using Relative Terrain Navigation
  Proceedings of the IEEE Oceans Conference, Anchorage, USA, September 2017
  
  
• Ø Hegrenæs, C Wallace, E Børhaug (2017):
  Autonomous under-ice surveying using the MUNIN AUV and single-transponder navigation
  Proceedings of the IEEE Oceans Conference, Anchorage, USA, September 2017
  
  
• A Morrison, N Sokolova, T V Haavardsholm, O K Hagen, T O Opsahl, K B Ånonsen, E H Eriksen (2017):
  Collaborative Indoor Navigation for Emergency Services Personnel
  Proceedings of the IEEE Aerospace Conference, Big Sky, MT, USA, June 2017
  
  
• S T Hovde (2017):
  Compact Sensor System for Target Localization
  Master thesis. Faculty of mathematics and natural sciences. University of Oslo.
  
  
• K Gade (2016):
  The Seven Ways to Find Heading
  The Journal of Navigation, Volume 69, Issue 05, pp 955-970, ©The Royal Institute of Navigation, September 2016.
  
  
• Ø Hegrenæs, A Ramstad, T Pedersen, D Velasco (2016):
  Validation of a New Generation DVL for Underwater Vehicle Navigation
  Proceedings of the IEEE AUV Conference, Tokyo, Japan, November 2016
  
  
• O K Hagen, K B Ånonsen (2016):
  On the Performance of terrain navigation
  Proceedings of the UDT Europe 2016, Oslo, Norway, June 2016.
  
  
• O K Hagen, K B Ånonsen, T O Sæbø (2015):
  Towards Autonomous Mapping with AUVs - Line-to-Line Terrain Navigation
  Proceedings of the MTS/IEEE Oceans 2015 Conference, Washington , DC, USA, October 2015.
  
  
• O K Hagen, K B Ånonsen (2013):
  Improving Terrain Navigation by Concurrent Tidal and Sound Speed Error Estimation
  Proceedings of the MTS/IEEE Oceans 2013 Conference, San Diego, CA, USA, September 2013.
  
  
• K B Ånonsen, O K Hagen (2013):
  The HUGIN AUV Terrain Navigation Module
  Proceedings of the MTS/IEEE Oceans 2013 Conference, San Diego, CA, USA, September 2013.
  
  
• O K Hagen, K B Ånonsen, A Skaugen (2013):
  Robust Surface Vessel Navigation Using Terrain Navigation
  Proceedings of the MTS/IEEE Oceans 2013 Conference, Bergen, Norway, June 2013.
  
  
• O K Hagen, K B Ånonsen, T O Sæbø (2012):
  Low Altitude Terrain Navigation for Underwater Vehicles
  Sea Technology, 6/2012, pp 10-13, Compass Publications Inc., Arlington, VA, USA, June 2012
  
  
• Ø Hegrenæs, Oddvar Hallingstad (2011):
  Model-Aided INS With Sea Current Estimation for Robust Underwater Navigation
  IEEE Journal of Oceanic Engineering, Vol. 36, No. 2, April 2011
  
  
• K B Ånonsen, O K Hagen (2011):
  Recent Developments in the HUGIN AUV Terrain Navigation System
  Proceedings of the MTS/IEEE Oceans 2011 Conference, Kona, HI, USA, September 2011.
  
  
• O K Hagen, K B Ånonsen, T O Sæbø (2011):
  Low Altitude AUV Terrain Navigation Using an Interferometric Sidescan Sonar
  Proceedings of the MTS/IEEE Oceans 2011 Conference, Kona, HI, USA, September 2011.
  
  
• O K Hagen, K B Ånonsen, M. Mandt (2010):
  The HUGIN Real-Time Terrain Navigation System
  Proceedings of the MTS/IEEE Oceans 2010 Conference, Seattle, WA, USA, September 2010.
  
  
• K B Ånonsen, O K Hagen (2010):
  An Analysis of Real-Time Terrain Aided Navigation Results from a HUGIN AUV
  Proceedings of the MTS/IEEE Oceans 2010 Conference, Seattle, WA, USA, September 2010.
  
  
• Ø Hegrenæs, T O Sæbø, P E Hagen, B Jalving (2010):
  Horizontal Mapping Accuracy in Hydrographic AUV Surveys
  Proceedings of the IEEE AUV Converence, Monterey, CA, USA, 2010.
  
  
• K Gade (2010):
  A Nonsingular Horizontal Position Representation
  The Journal of Navigation, Volume 63, Issue 03, pp 395-417, ©The Royal Institute of Navigation, July 2010.
  
  
• N Kjørsvik, J G Gjevestad, E Brøste, K Gade and O K Hagen (2010):
  Tightly Coupled Precise Point Positioning and Inertial Navigation Systems
  Proceedings from EuroCOW 2010, Spain
  
  
• K Gade (2009):
  Introduction to Inertial Navigation and Kalman Filtering
  Tutorial for IAIN World Congress, Stockholm, October 2009.
  
  
• K B Ånonsen, O K Hagen (2009):
  Terrain Aided Underwater Navigation Using Pockmarks.
  Proceedings of the IEEE Oceans Conference, Biloxi, MS, USA, October 2009.
  
  
• Ø Hegrenæas, K Gade, O K Hagen, P E Hagen (2009):
  Underwater Transponder Positioning and Navigation of Autonomous Underwater Vehicles.
  Proceedings of the IEEE Oceans Conference, Biloxi, MS, USA, October 2009.
  
  
• Ø Hegrenæas, E Berglund (2009):
  Doppler Water-Track Aided Inertial Navigation for Autonomous Underwater Vehicles
  Proceedings of the IEEE Oceans Conference, Bremen, Germany, May, 2009.
  
  
• P E Hagen, Ø Hegrenæs, B Jalving, Ø Midtgaard, M Wiig, O K Hagen (2008):
  Making AUVs Truly Autonomous
  Underwater Vehicles, Ed. A V Inzartsev, pp. 582, I_Tech, Vienna, Austria, December 2008.
  
  
• O K Hagen, B Jalving (2008):
  Vertical Position Estimation For Underwater Vehicles
  Sea Technology, 12/2008, pp 51-54, Compass Publications Inc., Arlington, USA, December 2008.
  
  
• K Gade (2008):
  Introduction to Inertial Navigation and Kalman Filtering. Tutorial for High Precision Navigation and Positioning
  Conference, Norwegian Space Centre, June 2008.
  
  
• Ø Hegrenæs, E Berglund, O Hallingstad (2008):
  Model-Aided Inertial Navigation for Underwater Vehicles
  IEEE International Conference on Robotics and Automation, Pasedena, CA, USA, May 2008.
  
  
• K M Fauske, O Hallingstad, Ø Hegrenæs (2008):
  Toward a Framework for High Integrity Navigation of Autonomous Underwater Vehicles
  In proceedings of the IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Killaloe, Ireland, April 2008.
  
  
• O K Hagen (2008):
  From Pressure to Depth - Estimation of underwater vertical position
  Havbunnskartlegging og Inspeksjon, Geilo, 2008
  
  
• Ø Hegrenæs, O Hallingstad, K Gade (2007):
  Towards Model-Aided Navigation of Underwater Vehicles.
  Modeling, Identification and Control, vol. 28, no. 4, October 2007, pp. 113-123.
  
  
• K B Ånonsen, O Hallingstad (2007):
  Sigma Point Kalman Filter For Underwater Terrain-Based Navigation
  In proceedings of the IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, September 2007.
  
  
• K M Fauske, F. Gustafsson, Ø Hegrenæs (2007):
  Estimation of AUV dynamics for sensor fusion
  In proceedings of the IEEE International Conference on Information Fusion, Fusion'07, Québec, Canada, July 2007.
  
  
• Ø Hegrenæs, O Hallingstad, B. Jalving (2007):
  A Framework for Obtaining Steady-State Maneuvering Characteristics of Underwater Vehicles Using Sea Trial Data
  Proceedings of the IEEE Mediterranean Conference on Control and Automation, Athens, Greece, June 2007.
  
  
• A Willumsen, O K Hagen, P N Boge (2007):
  Filtering Depth Measurements in Underwater Vehicles for Improved Seabed Imaging
  OCEANS Europe 2007 Proceedings, Aberdeen, UK, June 2007.
  
  
• Ø Hegrenæs, O Hallingstad, B Jalving (2007):
  A Comparison of Mathematical Models for the HUGIN 4500 AUV Based on Experimental Data
  IEEE International Symposium on Underwater Technology, UT'07, Tokyo, Japan, April 2007.
  
  
• K B Ånonsen, O Hallingstad, O K Hagen (2007):
  Bayesian Terrain-Based Underwater Navigation using an Improved State Space Model
  IEEE International symposium on Underwater Technology, UT'07, Tokyo, Japan, April 2007.
  
  
• O K Hagen (2006):
  TerrLab – a generic simulation and post-processing tool for terrain referenced navigation
  OCEANS 2006 MTS/IEEE Proceedings, Boston, MA, USA, September 2006.
  
  
• K B Ånonsen, O Hallingstad, O K Hagen (2006):
  Terrain Aided Underwater Navigation Using Point Mass And Particle Filters
  ION/IEEE Position Location and Navigation Symposium (PLANS), San Diego, CA, USA, April 2006.
  
  
• K B Ånonsen, O Hallingstad, O K Hagen, M Mandt (2005):
  Terrain Aided AUV Navigation – A Comparison of the Point Mass Filter and the Terrain Contour Matching Algorithms
  UDT Europe 2005 Conference Proceedings, Amsterdam, Netherlands, June 2005.
  
  
• B Jalving, E Berglund (2005):
  Time Referencing in Offshore Survey Systems
  Presented at "Geodesi- og Hydrografidagene" 2005.
  
  
• O K Hagen (2005):
  Terrain Navigation Principles and Application
  Presented at "Geodesi- og Hydrografidagene" 2005.
  
  
• K Gade (2005):
  Introduction to Inertial Navigation
  Presented at "Geodesi- og Hydrografidagene" 2005.
  
  
• B Jalving, K Gade, K Svartveit, A Willumsen, R Sørhagen (2004):
  DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System
  Proceedings from ADCPs in Action 2004, June, Nice, France.
  
  
• K Gade (2004):
  NAVLAB, a Generic Simulation and Post-processing Tool for Navigation
  European Journal of Navigation volume 2, Number 4, 51-59.
  
  
• B Jalving, M Mandt, O K Hagen, F Pøhner (2004):
  Terrain Referenced Navigation of AUVs and Submarines Using Multibeam Echo Sounders
  Proc. UDT Europe 2004, Nice, France, June 2004.
  
  
• R E Hansen, T O Sæbø, K Gade, S Chapman (2003):
  Signal Processing for AUV Based Interferometric Synthetic Aperture Sonar
  Proceedings from Oceans 2003 MTS/IEEE, San Diego, CA, USA, September 2003. Copyright © 2003 MTS.
  
  
• B Jalving, K Gade, O K Hagen, K Vestgård (2003):
  A Toolbox of Aiding Techniques for the HUGIN AUV Integrated Inertial Navigation System
  Proceedings from Oceans 2003 MTS/IEEE, San Diego, CA, USA, September 2003. Copyright © 2003 MTS.
  
  
• B. Jalving, E. Bovio, K. Gade (2003):
  Integrated Inertial Navigation Systems for AUVs for REA Applications
  Proceedings from NATO Underwater Research Center Conference, MREP 2003, NATO Underwater Research Center May 12 – 15, 2003, La Spezia, Italy.
  
  
• T. Nypan, K. Gade, and O. Hallingstad (2002):
  Vehicle positioning by database comparison using the Box-Cox metric and Kalman filtering
  VTC Spring, AL, USA, May 2002.
  
  
• T. Nypan, K. Gade, and T. Maseng (2001):
  Location using Estimated Impulse Responses in a Mobile Communication System
  NORSIG, Trondheim, Norway, Oct 2001.
  
  
• L. Wang, A. Bellettini, R. Hollett, A. Tesei, M. Pinto, S. Chapman, and K. Gade (2001):
  InSAS’00: Interferometric SAS and INS aided SAS imaging
  In Proceedings of Oceans 2001 MTS/IEEE, Honolulu, HI, USA, November 2001, pp. 179–187.
  
  
• P E Hagen, R E Hansen, K Gade, E Hammerstad (2001):
  Interferometric Synthetic Aperture Sonar for AUV Based Mine Hunting: The SENSOTEK projekt
  Proceedings from Unmanned Systems 2001, Baltimore, MD, USA, July-August 2001.
  
  
• M Mandt, K Gade, B Jalving (2001):
  Integrating DGPS-USBL position measurements with inertial navigation in the HUGIN 3000 AUV
  Proceedings from the 8th Saint Petersburg International Conference on Integrated Navigation Systems, Saint Petersburg, Russia, May 2001.
  
  
• B Hafskjold, B Jalving, E Hagen, and K Gade (2000):
  Integrated Camera-Based Navigation
  The Journal of Navigation, Cambridge University Press, vol. 53, No. 2, May 2000.
  
  
• B Jalving (1999):
  Depth Accuracy in Seabed Mapping with Underwater Vehicles
  Proceedings from Oceans '99, Seattle, WA, USA, September 1999. Copyright © 1999 IEEE.
  
  
• B Jalving, K Gade (1998):
  Positioning Accuracy for the HUGIN Detailed Seabed Mapping UUV
  Proceedings from Oceans '98, Nice, France, September-October 1998.
  
  
• K Gade, B Jalving (1998):
  An Aided Navigation Post Processing Filter for Detailed Seabed Mapping UUVs
  Proceedings AUV’98, Cambridge, MA., Aug. 20-21, 1998 &
  Modeling, Identification and Control 20 (3): 165-176, 1999.
  
  
• K Gade (1997):
  Integrering av treghetsnavigasjon i en autonom undervannsfarkost (in Norwegian)
  (Design of an integrated strapdown INS for an autonomous underwater vehicle)
  Norwegian Defence Research Establishment (FFI), Tech. Rep. FFI/RAPPORT-97/03179
  
  

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