给出了一种基于陀螺和四元数的EKF卫星姿态确定算法，非常实用-is based on a gyroscope and quaternion the EKF satellite attitude determination algorithm, a very practical

给出了一种基于陀螺和四元数的EKF卫星姿态确定算法，非常实用-is based on a gyroscope and quaternion the EKF satellite attitude determination algorithm, a very practical

Aiming at determining the satellite attitude precisely，the gyros bias and m isa lignment were compensated in time by using the quaternion of star-sensor and extended Kalm an filter．The related module of the filter was de