Background and activities

PhD Project: Model-Based Nonlinear Integration Filters for INS and Position Measurements

Main supervisor: Thor I. Fossen

Co-supervisor: Tor A. Johansen

PhD Project Focus: To develop low‐cost integrated strapdown navigation systems exploiting the vehicle model.

  • Design of model-based nonlinear observers exploiting the vehicle dynamics to create a strategy for fault-tolerant observer design.
  • Enhanced performance by combining inertial measurements and model-based predictions.
  • Optimal combination of measured and computed accelerations to obtain fault tolerance and robust sensor fusion.

Current research: Working on a nonlinear wind estimator for an UAV exploiting a complex model of the aircraft. 

Previous work during the PhD: I spent half a year in late 2014, early 2015, at the NASA Jet Propulsion Laboratory in California, working on their quadrocopter navigation systems.

Background: I have a bachelor in electrical engineering from the Technical University of Denmark and an Honors Programme Master degree in Automation and Robot Technology from the Technical University of Denmark.

Scientific, academic and artistic work

A selection of recent journal publications, artistic productions, books, including book and report excerpts. See all publications in the database

Journal publications


  • Borup, Kasper Trolle; Fossen, Thor I.; Johansen, Tor Arne. (2018) Air Data Estimation for Small Unmanned Aircraft. 2018. ISBN 978-82-326-3384-5.