TTK4190 - Guidance, Navigation and Control of Vehicles


Examination arrangement

Examination arrangement: School exam and off campus exam
Grade: Letter grades

Evaluation Weighting Duration Grade deviation Examination aids
School exam 7/10 4 hours C
Home examination 3/10 4 hours

Course content

Mathematical modeling and simulation of vehicles in 6 degrees of freedom. This includes mathematical modeling of ship, semi-submersibles, aircraft, autonomous underwater vehicles (AUV) and unmanned aerial vehicles (UAV). Introduction to aerodynamics, hydrodynamics and sealoads as well as mathematical modeling of the environment (waves, ocean currents and wind). Kinematics (Euler angles and quaternions), transformations, rotation matrices, geographical and body-fixed coordinates systems, rigid-body kinetics and vectorial mechanics. Methods for design and implementation of guidance, navigation, and control (GNC) systems for marine craft and aircraft. This includes simulation and testing of motion control systems during failure situations and for varying environmental loads. Emphasis is placed on classical guidance systems included line-of-sight (LOS) methods and path planning. Applied control theory and synthesis in terms of linear quadratic optimal control and state estimation (Kalman filtering), nonlinear observer theory, PID control with extensions to nonlinear systems, Lyapunov methods, sliding mode control, feedback linearization, backstepping designs and passivity-based methods. Autopilot design, dynamic positioning, attitude stabilization, roll damping, altitude and depth autopilots, vibration damping, sensor and navigation systems and wave filtering. Observers and error-state Kalman filter for integration of global navigation satellite systems (GNSS) and inertial measurements (gyros and accelerometers).

Learning outcome

Knowledge: Detailed knowledge about guidance, navigation and control systems for marine craft, aircraft and unmanned vehicles (AUV and UAV systems). Be able to read and understand methods published in the literature and evaluate and compare these with methods used in practical systems. Skills: Design and analysis of motion control systems for ships, ocean structures, underwater vehicles, aircraft and unmanned vehicles. Be able to simulate vessel motion, motion control systems and the effect of wind, wave and ocean current forces on these systems. Independent management of small R&D projects and contribute actively in larger projects. General competence: Communicate work related problems with specialists and nonspecialists.

Learning methods and activities

Lectures and mandatory computer assignments in Matlab. The objectives of the assignments are to simulate and test self-developed motion control systems.

Compulsory assignments

  • Oblig

Further on evaluation

Final exam in writing and digital midway exam are the basis for the final grade in the subject. The midway and final exams count for 30 % and 70 % of the grade, respectively. In addition, the computer assignments must be passed. The result for the written exams as well as the final grade are given as letters. The exams are only given in English. Students are free to choose Norwegian or English for written assessments. If there is a re-sit examination, the examination form may be changed from written to oral. The computer assignments, midway exam and final exam must all be passed in order to pass the course. In the case that the student receives an F/Fail as a final grade after both ordinary and re-sit exam, then the student must retake the course in its entirety.

Specific conditions

Compulsory activities from previous semester may be approved by the department.

Required previous knowledge

TTK4105 Control Systems and TTK4115 Linear system theory, alternatively a course that covers linear quadratic optimal control and state estimation (Kalman filter).

Course materials

  • Fossen, T. I. Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons Ltd, 2nd edition, 2021.
  • Beard, R. W. and T. W. McLain. Small Unmanned Aircraft. Theory and Practice. Princeton University Press, 2012.

Credit reductions

Course code Reduction From To
SIE3090 7.5
More on the course

Version: 1
Credits:  7.5 SP
Study level: Second degree level


Term no.: 1
Teaching semester:  AUTUMN 2021

Language of instruction: Norwegian

Location: Trondheim

Subject area(s)
  • Engineering Cybernetics
  • MSc-level Engineering and Architecture
  • Technological subjects
Contact information
Course coordinator: Lecturer(s):

Department with academic responsibility
Department of Engineering Cybernetics


Examination arrangement: School exam and off campus exam

Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
Autumn ORD School exam 7/10 C 2021-12-13 15:00 INSPERA
Room Building Number of candidates
SL515 Sluppenvegen 14 6
SL311 lyseblå sone Sluppenvegen 14 93
SL311 orange sone Sluppenvegen 14 20
Autumn ORD Home examination 3/10





Room Building Number of candidates
Summer UTS Oral examination 7/10 2022-08-10
Room Building Number of candidates
Summer UTS Oral examination 3/10 2022-08-10
Room Building Number of candidates
  • * The location (room) for a written examination is published 3 days before examination date. If more than one room is listed, you will find your room at Studentweb.

For more information regarding registration for examination and examination procedures, see "Innsida - Exams"

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