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
The IEEE copyrighted papers on this web site are posted with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of FFI's products or services. Internal or personal use of this material is permitted. However, persmission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to Pubs-permission@ieee.org By choosing to view these documents, you agree to all provisions of the copyright laws protecting it.
The MTS copyrighted papers on this web site are posted with permission of the Marine Technology Society. The Marine Technology Society is a not-for-profit, international, professional association. Founded in 1963, the Society believes that the advancement of marine technology and the productive, sustainable use of the oceans depend upon the active exchange of ideas between government, industry and academia. The Society holds annual conferences, technical workshops and symposium, in addition to providing Publications and online information. This permission does not in any way imply MTS endorsement of any of FFI's products or services.