Rao-Blackwellized Particle Filter for the CBERS-4 attitude and gyros bias estimation - Silva, William Reis; Garcia, Roberta Veloso; Santilli, Giorgia; Kuga, Helio Koiti; Zanardi, Maria Cecília França de Paula Santos; Pardal, Paula Cristiane Pinto Mesquita (Acta astronautica, 2021)