```@InProceedings{AmaralLopeHéli:2007:NoLiKa,
author = "Amaral, Jairo Cavalcanti and Lopes, Oliveira e Souza Marcelo and
H{\'e}lio, Koiti Kuga",
title = "A Non linear Kalman Filter Algorithm for Monitoring the Motion of
a Vehicle in Real Time Around a Reference Trajectory",
booktitle = "Proceedings...",
year = "2007",
organization = "SAE BRASIL , 16. International Congress and Exposition.",
publisher = "SAE International",
abstract = "In this work we present a nonlinear Kalman filter algorithm for
monitoring the motion of a vehicle in real time around a reference
trajectory. It is based on the linearized and/or the extended
Kalman filters. The first vehicle and reference trajectory
considered are a satellite and a keplerian orbit around Earth. The
orbital motion is modeled as simple as possible so as not to
burden the computer load and, at the same time, to provide enough
accuracy to this sort of problem. The source of measurements is
simulated to represent actual measurements such as GPS,
geo-stationary satellite to satellite tracking, or conventional
ground tracking stations. Some tests are done to show its
correctness. After that, we intend to extend such algorithm to
other vehicles and reference trajectories as: 1) a triangular
equatorial constellation of satellites orbiting around Earth in
coplanar keplerian orbits; 2) a semi-autonomous car moving in a
sensored track; 3) etc. The accuracy in motion estimation will
ultimately affect the performance of controlling and maneuvering
the vehicle, therefore providing a basis for its design,
implementation and maintenance. RESUMO: Neste trabalho
apresentamos um algoritmo com filtro de Kalman n{\~a}o linear
para o monitoramento de um ve{\'{\i}}culo em tempo real em torno
de uma trajet{\'o}ria de refer{\^e}ncia. O primeiro
ve{\'{\i}}culo e trajet{\'o}ria considerados s{\~a}o um
sat{\'e}lite e uma {\'o}rbita kepleriana em torno da Terra. O
movimento orbital ser{\'a} modelado o mais simples
poss{\'{\i}}vel para n{\~a}o prejudicar a carga computacional
e, ao mesmo tempo, fornecer precis{\~a}o suficiente para este
tipo de problema. A fonte de medidas ser{\'a} simulada para
representar medidas reais, tais como GPS, rastreamento via
sat{\'e}lite, ou esta{\c{c}}{\~o}es convencionais de
rastreamento. Alguns testes s{\~a}o feitos para mostrar sua
corre{\c{c}}{\~a}o. Ap{\'o}s isso, pretendemos estender tal
algoritmo para outros ve{\'{\i}}culos e trajet{\'o}rias de
refer{\^e}ncia tais como: 1) uma constela{\c{c}}{\~a}o
equatorial triangular de sat{\'e}lites orbitando a Terra em
{\'o}rbitas keplerianas coplanares; 2) um carro
semi-aut{\^o}nomo movendo-se numa pista sensoriada; 3) etc. A
precis{\~a}o da estima{\c{c}}{\~a}o de movimento ir{\'a}
afetar a performance de controle e de manobra do ve{\'{\i}}culo,
fornecendo assim uma base para seu projeto,
implementa{\c{c}}{\~a}o e manuten{\c{c}}{\~a}o.",
conference-location = "Warrendale",
doi = "10.4271/2007-01-2682",
url = "http://dx.doi.org/10.4271/2007-01-2682",
language = "en",
urlaccessdate = "21 jan. 2021"
}

```