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@PhDThesis{Silva:2016:FiHiEs,
               author = "Silva, William Reis",
                title = "Filtro H-infinito estendido de segunda ordem e filtro de 
                         part{\'{\i}}culas regularizado com {"}roughening{"} aplicados na 
                         estima{\c{c}}{\~a}o de atitude de sat{\'e}lites artificiais",
               school = "Instituto Nacional de Pesquisas Espaciais (INPE)",
                 year = "2016",
              address = "S{\~a}o Jos{\'e} dos Campos",
                month = "2016-01-11",
             keywords = "filtro H infinito estendido de segunda ordem, filtro de 
                         part{\'{\i}}culas regularizado, estima{\c{c}}{\~a}o de 
                         atitude, calibra{\c{c}}{\~a}o de giros, sistema n{\~a}o linear, 
                         second-order extended H infinity filter, regularized particle 
                         filter, attitude estimation, gyros calibration, nonlinear 
                         system.",
             abstract = "Neste trabalho {\'e} analisada a poss{\'{\i}}vel 
                         aplica{\c{c}}{\~a}o do Filtro H\$\propto\$ para sistema 
                         n{\~a}o linear, conhecido como Filtro H\$\propto\$ Estendido, 
                         e do Filtro de Part{\'{\i}}culas Regularizado na 
                         determina{\c{c}}{\~a}o de atitude e estima{\c{c}}{\~a}o dos 
                         bias dos giros. A aplica{\c{c}}{\~a}o utiliza medidas simuladas 
                         e reais do CBERS-2 (China Brazil Earth Resources Satellite 2) que 
                         tem uma {\'o}rbita polar helioss{\'{\i}}ncrona com uma altitude 
                         de 778 km cruzando o Equador {\`a}s 10:30 am na 
                         dire{\c{c}}{\~a}o descendente, excentricidade congelada e 
                         perigeu a 90 graus provendo uma cobertura global da Terra a cada 
                         26 dias. O modelo cinem{\'a}tico de atitude {\'e} descrito por 
                         uma equa{\c{c}}{\~a}o n{\~a}o linear envolvendo os {\^a}ngulos 
                         de Euler. Os sensores de atitude dispon{\'{\i}}veis s{\~a}o 
                         dois DSS (Sensor Solar Digital), dois IRES (Sensores de Terra 
                         Infravermelho), e um triedro de giros mec{\^a}nicos. Os dois IRES 
                         fornecem a medida direta dos {\^a}ngulos de roll e pitch com um 
                         certo n{\'{\i}}vel de erro. Os dois DSS s{\~a}o montados no 
                         corpo do sat{\'e}lite tal que eles fornecem uma 
                         fun{\c{c}}{\~a}o n{\~a}o linear dos {\^a}ngulos de atitude 
                         roll, pitch e yaw. Os giros s{\~a}o alinhados nos tr{\^e}s eixos 
                         dos sat{\'e}lite e fornecem a varia{\c{c}}{\~a}o angular no 
                         sistema de refer{\^e}ncia do corpo. Dessa forma, {\'e} proposto 
                         usar uma extens{\~a}o do Filtro linear H\$\propto\$ e do 
                         Filtro de Part{\'{\i}}culas Regularizado para o caso n{\~a}o 
                         linear de determina{\c{c}}{\~a}o de atitude com n{\~a}o 
                         linearidade em ambos modelos da din{\^a}mica e das medidas. O 
                         objetivo de real{\c{c}}ar e ampliar as propriedades desses 
                         filtros em termos dessas caracter{\'{\i}}sticas favor{\'a}veis. 
                         ABSTRACT: In this work is analized the possible application of the 
                         \$\propto\$ Filter for nonlinear system, known as Extended 
                         \$\propto\$ Filter, and of the Regularized Particle Filter in 
                         attitude determination and gyros drift estimation. The application 
                         uses simulated and actual measurements of the CBERS-2 (China 
                         Brazil Earth Resources Satellite 2) which has polar 
                         sun-synchronous orbit with an altitude of 778 km, crossing Equator 
                         at 10:30 am in descending direction, frozen eccentricity and 
                         perigee at 90 degrees providing a global coverage every 26 days. 
                         The attitude kinematic model is described by nonlinear equations 
                         involving the Euler angles. The attitude sensors available are two 
                         DSS (Digital Sun Sensors), two IRES (Infra-Red Earth Sensor), and 
                         one triad of mechanical gyros. The two IRES give direct 
                         measurements of roll and pitch angles with a certain level of 
                         error. The two DSS are mounted on the satellite body such that 
                         they give a nonlinear function of roll, pitch and yaw attitude 
                         angles. The gyros are aligned in the three satellite axes and 
                         provide the angular measurements in the body frame reference 
                         system. Herein one proposes to use an extension of the 
                         \$\propto\$ linear filter and of the Regularized Particle 
                         Filter for the nonlinear case of attitude estimation with 
                         non-linearity in both the dynamics and the measurement model. The 
                         aim is to highlight and magnify the properties of the filters in 
                         terms of its favourable characteristics.",
            committee = "Kuga, H{\'e}lio Koiti (presidente/orientador) and Zanardi, Maria 
                         Cec{\'{\i}}lia Fran{\c{c}}a de Paula Santos (orientadora) and 
                         Garcia, Roberta Veloso and Pardal, Paula Cristiane Pinto Mesquita 
                         and Baroni, Leandro",
           copyholder = "SID/SCD",
         englishtitle = "Second-order extended H infinite filter and regularized particle 
                         filter with roughening applied in attitude estimation of 
                         artificial satellite",
             language = "pt",
                pages = "177",
                  ibi = "8JMKD3MGP3W34P/3L2GUSP",
                  url = "http://urlib.net/rep/8JMKD3MGP3W34P/3L2GUSP",
           targetfile = "publicacao.pdf",
        urlaccessdate = "25 nov. 2020"
}


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