ISIS project: Navigation systems

This project is carried out by Division of Communication Systems and Division of Automatic Control in cooperation with SAAB (Dynamics and Gripen).

Selected publications

Since this project focuses on managing master thesis projects, no PhD student is involved and hence there are no publications. For navigation publications, we refer to sensor fusion publications that all concern navigation problems in airborn, automotive and underwater systems.


In the recent years activities in the navigation field have been boosting. There are and will be more and more areas where navigation becomes an important part of a system solution. So far navigation systems have been of major importance for aircraft, missiles, ships, etc., but it is now becoming used in automobiles and other smaller systems. Even in aircraft systems the advance in computer capacity has opened the possibility for a broad spectrum of applications where accurate navigation plays an important role. Typical tools today for navigation are inertial navigation systems (INS), which essentially means that acceleration and angular velocity measurements are integrated to a position. Systems that have an increasing importance are Global Navigation Satellite Systems (GNSS), e.g. the Global Positioning System (GPS), which are based on satellite information. The use of maps and terrain information (on charts or databases) has recently become a competitive component in navigation systems. Other sensors are more traditional sensors as for instance distance measuring equipment that can measure distances to stations at known locations. A good navigation system should be capable of integrating the information from different sources in an efficient and reliable way. In an aircraft application the requirements put on a navigation system varies with respect to reliability depending on what the objective is at a certain moment. One objective is a challenge from a reliability point of view - the landing of an aircraft. Originally, the main areas in this project were:

The licentiate thesis below focused on the second item: As a continuation, Per-Johan Nordlund is studying a general framework attacking all three problems in his sensor fusion project. This navigation project is so to say resting, except for master thesis, and the research is transfered to the project sensor fusion.

Master Theses

Today, the activity centers around an extensive master thesis program. The block diagram below, and the reference list describe how over 50 theses fit into the general picture. There is a flight animation (noexisting link removed) illustrating one of the recent thesis about a ground collision avoidance system. The movie was generated inside matlab directly from simulation data and the geographical information system (GIS). The animation starts at low altitude over the lake Tåkern (50km from Linköping), goes to the hill Omberg and just before the ground collision is unavoidable, the system automatically steers over the hill and out to the lake Vättern.

Several of these theses have received awards:

  • [25] The Polhem prize 1997 for best master thesis in Sweden.
  • [10] Radionavigationsnämndens 1'st prize 1997.
  • [17] Radionavigationsnämndens 2'nd prize 1997.
  • [37] Radionavigationsnämndens 1'st prize 1999.
  • [33] Radionavigationsnämndens 2'nd prize 1999.
  • [56] Radionavigationsnämndens 1'st prize 2001.
  • [52] Radionavigationsnämndens 2'nd prize 2001.

  • Another aspect is that these people have been a useful source of recruitment, and the following students got employed at SAAB directly after finishing their theses: [2,6,9,15,17,20,22,25(both students),32,37,39,39]

    Project status

    There is no PhD student in the project at the moment, but several of the PhD students in sensor fusion are working with navigation problems. The project is neveheless very active due to a large number of master thesis at Saab military aircraft, Saab dynamic and also at other "non-ISIS" companies as FOA (national defence research institute), Celsius aerotech and Luftfartsverket.

    1. Niclas Bergman. Recursive Bayesian Estimation: navigation and tracking applications. PhD thesis 579, 1999.
    2. Jan Palmqvist. On integrity monitoring of integrated navigation systems. Licentiate thesis 600, 1997.
    3. Niclas Bergman. Bayesian inference in terrain navigation. Licentiate thesis 649, 1997.
    4. M. Lundberg. State estimation from flight test data with Extendend Kalman filtering and smoothing. Master Thesis LiTH-ISY-EX-1637, 951212.
    5. P. Johansson. Target Tracking by fusing Radar and IR-sensor data. Master Thesis LiTH-ISY-EX-1607, 951220.
    6. J. Carlbom. A Study of Inertial Navigation Vertical Loops for Military Aircrafts. Master Thesis LiTH-ISY-EX-1567, 950925.
    7. N. Bergman. Parallel filters for detection of aircraft manoeuvres. Master Thesis LiTH-ISY-EX-1598, 951006.
    8. C. Nilsson. Knowledge Based Specification of a Pilot Model for Complex Tasks. Master Thesis LiTH-ISY-EX-1673, 951220.
    9. B. G. Sundqvist. Simulator of JAS throttle control system, a mode changing system. Master Thesis LiTH-ISY-EX-1566, 951030.
    10. F. Gunnarsson. Parallel filters for terrain reference navigation. Master Thesis LiTH-ISY-EX-1741, 960911.
    11. P. Carlsson. Modelling and simulation of GPS. Master Thesis LiTH-ISY-EX-1699, 961115.
    12. E. Johansson. Integration methods for acceleration signals. Master Thesis LiTH-ISY-EX-1676, 960125.
    13. F. Jonsson. Dynamic performance and control methods for primary flight control with servopump. Master Thesis LiTH-ISY-EX-1661, 960918.
    14. R. Karlsson. Optimal trajectory generation for Taurus. Master Thesis LiTH-ISY-EX-1714, 961216.
    15. A. Malmberg. Track-to-track association in multisensor multitarget tracking. Master Thesis LiTH-ISY-EX-1705, 961129.
    16. P. Norberg. Target Tracking with Decentralized Kalman Filters. Master Thesis LiTH-ISY-EX-1575, 960429.
    17. P.-J. Nordlund and J. Sonesson. An environment for simulation of global positioning system (GPS) and a method for integration of inertial navigation system and GPS. Master Thesis LiTH-ISY-EX-1728, 961213.
    18. M. Stern. Suggestion for an altitude meter for an autonomous miniature helicopter. Master Thesis LiTH-ISY-EX-1603, 960209.
    19. Dan Rylander. Robust Control of a Hypersonic Vehicle using Gain Scheduling. Master Thesis LiTH-ISY-EX-1546.
    20. Håkan Frank. Robust Control of a Hypersonic Vehicle Using Dynamic Inversion and mu-synthesis. Master Thesis LiTH-ISY-EX-1681.
    21. Magnus Andersson. Graceful degradation of an integrated navigation system and improvement of an INS simulator. Master Thesis LiTH-ISY-EX-1834, 971217.
    22. Mats Bergman. Filtering of radar measurements for aiming the automatic gun in JAS 39 Gripen. Master Thesis LiTH-ISY-EX-1826, 971121.
    23. Johan Hedin. Specific emitter identification of radar. Master Thesis LiTH-ISY-EX-1875, 971202.
    24. Lars Holmberger. Dimensioning of a real-time simulation environment for the BILL-sight. Master Thesis LiTH-ISY-EX-1810, 970930.
    25. Thomas Jensen and Mathias Karlsson. Sensor management in a complex multisensor environment. Master Thesis LiTH-ISY-EX-1831, 971128.
    26. Nicklas Johansson. H-infinity filtering. Master Thesis LiTH-ISY-EX-1791, 971216.
    27. Tomas Larsson. Control law design for high alpha vehicle using linear quadratic optimization. Master Thesis LiTH-ISY-EX-1748, 970311.
    28. Roine Pettersson. Position determination with GPS. Master Thesis LiTH-ISY-EX-1760, 970603.
    29. Jan Wallenberg. Extending the TACSI tactical air combat simulator with Monte Carlo Simulation. Master Thesis LiTH-ISY-EX-1768, 970214.
    30. Johannes Wintenby. Target tracking using IMM, JPDA and adaptive sensor updating. Master Thesis LiTH-ISY-EX-1747, 970418.
    31. Håkan Wissman. Control stick steered aircraft simulation model. Master Thesis LiTH-ISY-EX-1812, 971215.
    32. Daniel Murdin. Data fusion and fault detection in decentralized navigation systems. Master Thesis LiTH-ISY-EX-1920, 980512.
    33. Charlotte Dahlgren. Non-linear black box modelling of JAS 39 Gripen's radar altimeter. Master Thesis LiTH-ISY-EX-1958, 981023.
    34. Niklas Ferm. Identity fusion and classification of aircraft in a multisensor environment. Master Thesis LiTH-ISY-EX-1985, 981204.
    35. Robert Guricke. Simplified models of sensor inaccuracy, data fusion and tracking in an air combat simulator. Master Thesis LiTH-ISY-EX-1903, 981124.
    36. Ingela Lind. A design method for H-infinity optimal filtering. Master Thesis LiTH-ISY-EX-1945, 981005.
    37. Martin Pettersson. Distributed integrity monitoring of differential GPS corrections. Master Thesis LiTH-ISY-EX-2021, 981210.
    38. Mattias Svensson. Aircraft trajectory restoration by integration of inertial measurements and GPS. Master Thesis LiTH-ISY-EX-2021, 991026. SAAB.
    39. Jan-Ole Jacobsen. Controller Design of a Generic Aeroplane Model using LFT Gain Scheduling. Master Thesis LiTH-ISY-EX-2059.
    40. Stefan Ahlqvist. SAAB 1999.
    41. Karolina Danielsson. Error modeling in navigation systems. SAAB 1999.
    42. Björn Hässler. Transmission model for IRST SAAB 1999.
    43. Mats Hallingström. Modeling data traffic in onboard computer. SAAB 1999.
    44. Josefin Hovlind. Measurement conditioning from camera surveyed weapon delivery. LiTH-ISY-EX-3071, SAAB 2000.
    45. Jonas Sporrong and Peter Uhlin. Collision avoidance of aircraft. LiTH-ISY-EX-3031 SAAB 1999.
    46. Follo, Peter, "Pre-study of a navigation solution for LORA", LiTH-ISY-EX-2076, FOA, 2000.
    47. Lars Morhagen. Estimating wind velocity from coherent Doppler laser data. FOA 1999.
    48. Osborn Conning and Andreas Schön. Landscape models based on laser radar elevation. LiTH-ISY-EX-3037 FOA 2000.
    49. Christian Johansson. Modeling of air combat evaluations. FOA 1999.
    50. David Anberg. Signal processing model for JAS radar. Ericsson Microwave 1999.
    51. Erik Karlsson. Target tracking with parallel filters: centralized vs decentralized structure. FOA 1999.
    52. Ahlström, Magnus and Calais, Marcus, "Bayesiansk terrängnavigering med Monte Carlo metod", SAAB, LiTH-ISY-EX-3051, 2000.
    53. Elmqvist, Magnus, "Automatic Ground Modelling using Laser Radar Data", LiTH-ISY-EX-3061, FOA, 2000.
    54. Carlsson, Tomas, "Signature simulation and signal analysis for 3D laser radar", LiTH-ISY-EX-3090, FOA, 2000.
    55. Svensson, Björn, "Diagnosis on the JAS39 Environmental Control System", LiTH-ISY-EX-3148, SAAB, 2001.
    56. Hall, Peter. "A Bayesian approach to Map-Aided Vehicle Positioning". NIRA Dynamics, LiTH-ISY-EX-3102, 2001.
    57. Persson, Joakim, "Bearbetning av GPS-data", LiTH-ISY-EX-3215, 2001.
    58. Ahnlund, Olof, "Syntetic apertur radar", LiTH-ISY-EX-3198, SAAB Bofors Dynamics
    59. Bergström, Christer, "Navigation system based on GPS", LiTH-ISY-EX-3122, Hägglunds Vehicle,
    60. Enqvist, Martin, "Aspects of high precision estimation of vehicle dynamics", LiTH-ISY-EX-3116, NIRA Dynamics, 001130
    61. Svensson, Björn, "Diagnosis on the JAS39 Environmental Control System", LiTH-ISY-EX-3148, SAAB, 010126
    62. Tornberg, Jens, "Extension of PD radar", LiTH-ISY-EX-3121, FOA, 63. Bergström, Christer, "Navigation system based on GPS", LiTH-ISY-EX-3122, Hägglunds Vehicle,
    64. Sjanic, Zoran, "On-line mission planning using model predictive control", LiTH_ISY-EX-3221, SAAB Gripen, 011205.
    65. Ahnlund, Olof, "Högupplösande syntetisk aperturradar i realtid", LiTH-ISY-EX-3198, SAAB Bofors Dynamics, 011210.
    66. Tillämpad partikelfiltrering i integrerad flygplansnavigering. Applied Particle Filters in Integrated Aircraft Navigation, Petter Frykman, LiTH-ISY-EX-3406
    67. Integration GPS/INS, Björn Gabrielsson, LiTH-ISY-EX-3299
    68. Utveckling och utvärdering av en radarbaserad robotmålsökarmodell med datalänkfunktion. Development and Evaluation of an Active Radio Frequency Seeker Model for a Missile with Data-Link Capability, Gustaf Hendeby, LiTH-ISY-EX-3309
    69. Terrängstöttad undervattensnavigering baserad på Bayesiansk statistik. Terrian Aided Underwater Navigation using Bayesian Statistics, Tobias Karlsson, LiTH-ISY-EX-3292
    70. Autonom landning med UAV. Autonomous landing of a UAV, Erika Lönnberg, LiTH-ISY-EX-3263
    71. Sensorfusion mellan en syntetisk attityd- och kursreferenssystem och GPS. Sensor fusion between a synthetic attitude and heading reference system and GPS, Regina Rosander, LiTH-ISY-EX-3408
    72. Gruppmålföljning av markobjekt. Group tracking of ground targets, Johanna Solli, LiTH-ISY-EX-3272
    73. Realtidsimplementering av kartstödd positionering med hjälp av Bayesianska estimeringsmetoder. Real Time Implementation of Map Aided Positioning Using a Bayesian Approach, Niklas Svenzen, LiTH-ISY-EX-3297