Utilizing celestial observations from star trackers, a 6-state extended Kalman filter is adopted to correct the satellites attitude error as well as gyro bias error.

• 利用星敏感器测量所得的恒星星光方向信息,采用六状态变量推广卡尔曼滤波,得到卫星姿态误差和陀螺漂移误差信息并进行相应的修正。