Observer and IMU-based detection and isolation of faults in position reference systems and gyrocompasses with dual redundancy in dynamic positioning. - Robert H. Rogne; Tor Arne Johansen; Thor I. Fossen (CCA, 2014)

On attitude observers and inertial navigation for reference system fault detection and isolation in dynamic positioning. - Robert H. Rogne; Tor Arne Johansen; Thor I. Fossen (ECC, 2015)

Fault detection in lever-arm-compensated position reference systems based on nonlinear attitude observers and inertial measurements in dynamic positioning. - Robert H. Rogne; Torleiv H. Bryne; Tor Arne Johansen; Thor I. Fossen (ACC, 2016)