3 . carry out the simulation of the kalman filter based on the gps / magnetometer attitude determination system and the ins / cns / infrared earth sensors attitude determination system . the results show that it can improve attitude determination accuracy by fusion theory 3 .利用联邦kalman滤波算法分别对采用gps 、磁强计和采用惯性陀螺、红外地平仪、星敏感器的两种卫星姿态确定方案进行了建模和仿真。