A Nonlinear Observer for Integration of GPS and INS Attitude

Thor I. Fossen received the M.Sc. degree in Naval Architecture in 1987 from the Norwegian University of Science and Technology (NTNU), Trondheim and the Ph.D. degree in Engineering Cybernetics from NTNU in 1991. In the period 1989-1990 Fossen pursued postgraduate studies as a Fulbright scholar in Àight control at the Department of Aeronautics and Astronautics, University of Washington, Seattle. In May 1993 Fossen was appointed as a Professor in Guidance, Navigation and Control at NTNU where he is teaching ship and ROV control systems design, Àight control, and nonlinear and adaptive control theory. Fossen is a Senior Scienti ¿c Advisor for ABB Industri AS, Marine Division in Oslo where he has worked on ship control. Fossen is the designer of the SeaLaunch trim and heel correction systems which is an offshore rig build by Boeing-Energia-Kværner from which rockets can be launched. Fossen is the author of the book Guidance and Control of Ocean Vehicles (Wiley, 1994) and the coeditor of the book New Directions in Nonlinear Observer Design (Springer-Verlag London, 1999).