This paper presents a less complex alternative to the Extended Kalman Filter (EKF), with an implementation of the Luenberger state observer for nonlinear systems, aiming the attitude and angular rate estimation of CubeSats. The parameterization of the rotation by quaternions is adopted, with the simulation of the system considering the measured attitude in the presence of white noise and constant disturbance. Resumo: Este trabalho apresenta uma alternativa de menor complexidade ao Filtro de Kalman Estendido (EKF), com uma implementação do observador de estado de Luenberger para sistemas não lineares, visando a estimação de atitude e velocidade angular de CubeSats. Adota-se a parametrização da rotação por quatérnios, com a simulação do sistema considerando a atitude medida em meioà presença de ruído branco e perturbação constante.
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