2026

• Sørensen, Glen Hjelmerud Mørkbak; Bryne, Torleiv Håland; Gryte, Kristoffer; Johansen, Tor Arne. (2026) Bluetooth Phased-array Aided Inertial Navigation Using Factor Graphs: Experimental Verification. arXiv:2511.05625
  Arbeidsnotat
• Hager, Antonia; Nebendahl, Sven; Klushyn, Alexej; Krauser, Jasper; Bryne, Torleiv H.; Johansen, Tor Arne. (2026) Airborne Magnetic Anomaly Navigation with Neural-Network-Augmented Online Calibration. Journal of Guidance Control and Dynamics
  Vitenskapelig artikkel
• Maurer, Finn Gross; Basso, Erlend A.; Schmidt-Didlaukies, Henrik; Bryne, Torleiv Håland. (2026) Outlier Detection on the Extended Special Euclidean Group for Iterated Lie-group-based Kalman Filters Applied to Inertial Navigation. IEEE European Control Conference (ECC)
  Vitenskapelig artikkel
• Maurer, Finn Gross; Schmidt-Didlaukies, Henrik M.; Basso, Erlend A.; Bryne, Torleiv Håland. (2026) Equivalence of Left- and Right-Invariant Extended Kalman Filters on Matrix Lie Groups. IEEE Transactions on Automatic Control
  Vitenskapelig artikkel
• Hasler, Oliver Kevin; Hasler, Oliver K.; Langer, Dennis David; Langer, Dennis D.; Winter, Adrian; Bryne, Torleiv H.; Johansen, Tor Arne. (2026) Miniaturized Imaging Spectroscopy Payload With Integrated Atmospheric Irradiance Measurement Capability. IEEE Access
  Vitenskapelig artikkel

2025

• Maurer, Finn Gross; Basso, Erlend A.; Schmidt-Didlaukies, Henrik M.; Bryne, Torleiv Håland. (2025) Equivalence of Left- and Right-Invariant Extended Kalman Filters on Matrix Lie Groups. arxiv.org
  Arbeidsnotat
• Chiatante, Corrado; Hasler, Oliver Kevin; Bryne, Torleiv Håland; Birkeland, Roger. (2025) An end-to-end Simulator for Gnss-R Constellation Design Applied to Zonal Coverage. IEEE International Geoscience and Remote Sensing Symposium proceedings
  Vitenskapelig artikkel
• Hager, Antonia; Bryne, Torleiv Håland; Olsen, Nils; Krauser, Jasper Simon; Johansen, Tor Arne. (2025) Magnetic Anomaly Navigation with a Lie-Group Error-State Kalman Filter.
  Vitenskapelig kapittel
• Hinostroza Munöz, Miguel Angel; Eide, Egil Sverre; Brekke, Edmund Førland; Breivik, Morten; Lekkas, Anastasios M.; Skjetne, Roger; Bryne, Torleiv Håland; Gusev, Alexey; Tufte, Andreas Gudahl. (2025) milliAmpere1 Autonomous Ferry Prototype: Hardware and Software. International Conference on Offshore Mechanics and Arctic Engineering (OMAE) [proceedings]
  Vitenskapelig artikkel
• Sørensen, Glen Hjelmerud Mørkbak; Bryne, Torleiv Håland; Gryte, Kristoffer; Synnevåg, Trym Andreassen; Johansen, Tor Arne. (2025) Robust phased-array radio system aided inertial navigation using factor graph optimisation.
  Vitenskapelig kapittel
• Maurer, Finn Gross; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Bryne, Torleiv Håland. (2025) Position Measurement Outlier Detection for Lie-Group-Based Navigation Filters Utilizing Gaussian Mixtures. IEEE Conference on Control Technology and Applications (CCTA)
  Vitenskapelig artikkel
• Øveraas, Henning; Bryne, Torleiv Håland; Johansen, Tor Arne. (2025) A linear time-invariant Kalman Filter for estimating height in the presence of ocean waves. Ocean Engineering
  Vitenskapelig artikkel

2024

• Bryne, Torleiv Håland; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik. (2024) Correlated Process and Measurement Noise in Kalman Filtering Revisited: A Case Study on Initialization and Leveling in Inertial Navigation Systems. Mediterranean Conference on Control and Automation (MED)
  Vitenskapelig artikkel
• Okuhara, Mika; Bryne, Torleiv Håland; Gryte, Kristoffer; Johansen, Tor Arne. (2024) Elevation Angle Redundancy from Barometric Altitude in Multipath-affected Phased Array Radio Navigation of UAVs. International Conference on Unmanned Aircraft Systems (ICUAS)
  Vitenskapelig artikkel
• Gryte, Kristoffer; Bryne, Torleiv Håland; Johansen, Tor Arne. (2024) Phased Array Radio Navigation: UAV Field Tests During GNSS Jamming. International Conference on Unmanned Aircraft Systems (ICUAS)
  Vitenskapelig artikkel
• Sollie, Martin Lysvand; Gryte, Kristoffer; Bryne, Torleiv Håland; Johansen, Tor Arne. (2024) Automatic Recovery of Fixed-Wing Unmanned Aerial Vehicle Using Bluetooth Angle-of-Arrival Navigation. International Conference on Unmanned Aircraft Systems (ICUAS)
  Vitenskapelig artikkel
• Hasler, Oliver Kevin; Løvås, Håvard Snefjellå; Oudijk, Adrienne Esmeralda; Bryne, Torleiv Håland; Johansen, Tor Arne. (2024) From Do-It-Yourself Design to Discovery: A Comprehensive Approach to Hyperspectral Imaging from Drones. Remote Sensing
  Vitenskapelig artikkel

2023

• Bryne, Torleiv Håland; Steinsland, Kristoffer. (2023) Sensor fusion of phased array radio bearing and inertial measurements using factor-graph-based optimization. Norges teknisk-naturvitenskapelige universitet
  Masteroppgave
• Bryne, Torleiv Håland; Synnevåg, Trym Andreassen. (2023) Sensor fusion of phased array radio and inertial sensor measurements using factor-graph-based optimisation. Norges teknisk-naturvitenskapelige universitet
  Masteroppgave
• Flemmen, Henrik Dobbe; Mester, Rudolf; Stahl, Annette; Bryne, Torleiv Håland; Brekke, Edmund Førland. (2023) Maritime radar odometry inspired by visual odometry.
  Vitenskapelig kapittel
• Hasler, Oliver Kevin; Løvås, Håvard Snefjellå; Bryne, Torleiv Håland; Johansen, Tor Arne. (2023) Direct georeferencing for Hyperspectral Imaging of ocean surface. IEEE Aerospace Conference. Proceedings
  Vitenskapelig artikkel
• Hasler, Oliver Kevin; Bryne, Torleiv Håland; Johansen, Tor Arne. (2023) Robust Phased Array Navigation in Reflective Prone Areas.
  Vitenskapelig kapittel
• Hasler, Oliver Kevin; Winter, Adrian; Langer, Dennis David; Bryne, Torleiv Håland; Johansen, Tor Arne. (2023) Lightweight UAV payload for image spectroscopy and atmospheric irradiance measurements. IEEE International Geoscience and Remote Sensing Symposium proceedings
  Vitenskapelig artikkel
• Okuhara, Mika; Bryne, Torleiv Håland; Gryte, Kristoffer; Johansen, Tor Arne. (2023) Phased Array Radio Navigation System on UAVs: In-Flight Calibration. Journal of Intelligent & Robotic Systems
  Vitenskapelig artikkel
• Okuhara, Mika; Bryne, Torleiv Håland; Gryte, Kristoffer; Johansen, Tor Arne. (2023) Phased Array Radio Navigation System on UAVs: Real-Time Implementation of In-flight Calibration. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Austad, Henrik; Jellum, Erling Rennemo; Hendseth, Sverre; Mathisen, Geir; Bryne, Torleiv Håland; Gregertsen, Kristoffer Nyborg; Albrektsen, Sigurd Mørkved; Helvik, Bjarne Emil. (2023) Composable distributed real-time systems with deterministic network channels. Journal of systems architecture
  Vitenskapelig artikkel
• Sollie, Martin Lysvand; Bryne, Torleiv Håland; Gryte, Kristoffer; Johansen, Tor Arne. (2023) Reducing Ground Reflection Multipath Errors for Bluetooth Angle-of-Arrival Estimation by Combining Independent Antenna Arrays. IEEE Antennas and Wireless Propagation Letters
  Vitenskapelig artikkel
• Bosdelekidis, Vasileios; Johansen, Tor Arne; Sokolova, Nadezda; Bryne, Torleiv Håland. (2023) Solution Separation-Based Integrity Monitor for Integrated GNSS/IMU/Camera Navigation: Constraining the Hypothesis Space With Deep Learning. IEEE - ION Position Location and Navigation Symposium
  Vitenskapelig artikkel

2022

• Bosdelekidis, Vasileios; Bryne, Torleiv Håland; Sokolova, Nadezda; Johansen, Tor Arne. (2022) Navigation Algorithm-Agnostic Integrity Monitoring based on Solution Separation with Constrained Computation Time and Sensor Noise Overbounding. Journal of Intelligent & Robotic Systems
  Vitenskapelig artikkel
• Jellum, Erling Rennemo; Bryne, Torleiv Håland; Johansen, Tor Arne; Orlandic, Milica. (2022) The Syncline Model - Analyzing the Impact of Time Synchronization in Sensor Fusion.
  Vitenskapelig kapittel
• Øveraas, Henning; Heggernes, A; Dallolio, Alberto; Bryne, Torleiv Håland; Johansen, Tor Arne. (2022) Predicting the Speed of a Wave-Propelled Autonomous Surface Vehicle Using Metocean Forecasts.
  Vitenskapelig kapittel
• Jellum, Erling Rennemo; Orlandic, Milica; Brekke, Edmund Førland; Johansen, Tor Arne; Bryne, Torleiv Håland. (2022) Solving Sparse Assignment Problems on FPGAs. ACM Transactions on Architecture and Code Optimization (TACO)
  Vitenskapelig artikkel
• Sollie, Martin Lysvand; Gryte, Kristoffer; Bryne, Torleiv Håland; Johansen, Tor Arne. (2022) Outdoor Navigation Using Bluetooth Angle-of-Arrival Measurements. IEEE Access
  Vitenskapelig artikkel

2021

• Helgesen, HÃ¥kon Hagen; Bryne, Torleiv HÃ¥land; Wilthil, Erik Falmår; Johansen, Tor Arne. (2021) Camera-Based Tracking of Floating Objects using Fixed-wing UAVs. Journal of Intelligent & Robotic Systems
  Vitenskapelig artikkel
• Okuhara, Mika; Bryne, Torleiv Håland; Gryte, Kristoffer; Johansen, Tor Arne. (2021) Phased Array Radio Navigation System on UAVs: GNSS-based Calibration in the Field. International Conference on Unmanned Aircraft Systems (ICUAS)
  Vitenskapelig artikkel
• Morrison, Aiden J; Sokolova, Nadezda; Håkegård, Jan Erik; Bryne, Torleiv Håland; Ruotsalainen, Laura. (2021) A Multi-Site Quad-Band Radio Frequency Interference Monitoring Alerting and Reporting System.
  Vitenskapelig kapittel
• Kim, Jonghyuk; Guivant, Jose; Sollie, Martin Lysvand; Bryne, Torleiv Håland; Johansen, Tor Arne. (2021) Compressed pseudo-SLAM: pseudorange-integrated compressed simultaneous localisation and mapping for unmanned aerial vehicle navigation. Journal of navigation
  Vitenskapelig artikkel

2020

• Gryte, Kristoffer; Fossen, Thor I.; Johansen, Tor Arne; Bryne, Torleiv Håland. (2020) Precision control of fixed-wing UAV and robust navigation in GNSSdenied environments. Norges teknisk-naturvitenskapelige universitet
  Doktoravhandling
• Bjørne, Elias; Brekke, Edmund Førland; Bryne, Torleiv Håland; Delaune, Jeff; Johansen, Tor Arne. (2020) Globally Stable Velocity Estimation Using Normalized Velocity Measurement. The International Journal of Robotics Research
  Vitenskapelig artikkel
• Bjørne, Elias; Brekke, Edmund Førland; Bryne, Torleiv Håland; Johansen, Tor Arne. (2020) Semiglobally Asymptotically Stable Nonlinear Observer for Camera Aided Navigation. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Gryte, Kristoffer; Bryne, Torleiv Håland; Johansen, Tor Arne. (2020) Unmanned Aircraft Flight Control Aided by Phased-Array Radio Navigation. Journal of Field Robotics (JFR)
  Vitenskapelig artikkel
• Rogne, Robert Harald; Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2020) On the Usage of Low-Cost MEMS Sensors, Strapdown Inertial Navigation and Nonlinear Estimation Techniques in Dynamic Positioning. IEEE Journal of Oceanic Engineering
  Vitenskapelig artikkel

2019

• Helgesen, Håkon Hagen; Leira, Frederik Stendahl; Bryne, Torleiv Håland; Albrektsen, Sigurd Mørkved; Johansen, Tor Arne. (2019) Real-time Georeferencing of Thermal Images using Small Fixed-Wing UAVs in Maritime Environments. ISPRS Journal of Photogrammetry and Remote Sensing (P&RS)
  Vitenskapelig artikkel
• Sollie, Martin Lysvand; Bryne, Torleiv Håland; Johansen, Tor Arne. (2019) Pose Estimation of UAVs Based on INS Aided by Two Independent Low-cost GNSS Receivers.
  Vitenskapelig kapittel
• Gryte, Kristoffer; Bryne, Torleiv Håland; Albrektsen, Sigurd Mørkved; Johansen, Tor Arne. (2019) Field Test Results of GNSS-denied Inertial Navigation aided by Phased-array Radio Systems for UAVs.
  Vitenskapelig kapittel
• Jørgensen, Erlend Kvinge; Fossen, Thor I.; Bryne, Torleiv Håland; Schjølberg, Ingrid. (2019) Underwater Position and Attitude Estimation Using Acoustic, Inertial, and Depth Measurements. IEEE Journal of Oceanic Engineering
  Vitenskapelig artikkel

2018

• Albrektsen, Sigurd Mørkved; Bryne, Torleiv Håland; Johansen, Tor Arne. (2018) Phased array radio system aided inertial navigation for unmanned aerial vehicles. IEEE Aerospace Conference. Proceedings
  Vitenskapelig artikkel
• Rogne, Robert Harald; Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2018) Redundant MEMS-based Inertial Navigation using Nonlinear Observers. Journal of Dynamic Systems Measurement, and Control
  Vitenskapelig artikkel
• Cisek, Krzysztof; Gryte, Kristoffer; Bryne, Torleiv Håland; Johansen, Tor Arne. (2018) Aided Inertial Navigation of Small Unmanned Aerial Vehicles Using an Ultra-Wideband Real Time Localization System. IEEE Aerospace Conference. Proceedings
  Vitenskapelig artikkel
• Albrektsen, Sigurd Mørkved; Bryne, Torleiv Håland; Johansen, Tor Arne. (2018) Robust and Secure UAV Navigation Using GNSS, Phased-Array Radio System and Inertial Sensor Fusion. IEEE Control Systems
  Vitenskapelig artikkel
• Bryne, Torleiv Håland; Rogne, Robert Harald; Fossen, Thor I.; Johansen, Tor Arne. (2018) A virtual vertical reference concept for aided inertial navigation at the sea surface. Control Engineering Practice
  Vitenskapelig artikkel

2017

• Bryne, Torleiv Håland; Johansen, Tor Arne. (2017) Nonlinear Observer Design for Aided Inertial Navigation of Ships. Norges teknisk-naturvitenskapelige universitet
  Doktoravhandling
• Bryne, Torleiv Håland; Hansen, Jakob Mahler; Rogne, Robert Harald; Sokolova, Nadezda; Fossen, Thor I.; Johansen, Tor Arne. (2017) Nonlinear observers for integrated INS\/GNSS navigation: implementation aspects. IEEE Control Systems
  Vitenskapelig artikkel
• Bryne, Torleiv Håland; Rogne, Robert Harald; Fossen, Thor I.; Johansen, Tor Arne. (2017) Inertial Sensors for Risk-Based Redundancy in Dynamic Positioning.
  Vitenskapelig kapittel
• Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2017) Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple-redundant sensor packages. International Journal of Adaptive Control and Signal Processing
  Vitenskapelig artikkel

2016

• Rogne, Robert Harald; Bryne, Torleiv Håland; Johansen, Tor Arne; Fossen, Thor I.. (2016) Fault detection in lever-arm-compensated position reference systems based on nonlinear attitude observers and inertial measurements in dynamic positioning. American Control Conference (ACC)
  Vitenskapelig artikkel
• Rogne, Robert Harald; Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2016) MEMS-based Inertial Navigation on Dynamically Positioned Ships: Dead Reckoning. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Bryne, Torleiv Håland; Rogne, Robert Harald; Fossen, Thor I.; Johansen, Tor Arne. (2016) Attitude and Heave Estimation for Ships using MEMS-based Inertial Measurements. IFAC-PapersOnLine
  Vitenskapelig artikkel

2015

• Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2015) A virtual vertical reference concept for GNSS/INS applications at the sea surface. IFAC-PapersOnLine
  Vitenskapelig artikkel

2014

• Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2014) Nonlinear Observer with Time-Varying Gains for Inertial Navigation Aided by Satellite Reference Systems in Dynamic Positioning. Mediterranean Conference on Control and Automation (MED)
  Vitenskapelig artikkel