Satellite sensor gyroscope combined attitude determination method, combined attitude determination system and application

The invention belongs to the technical field of satellite attitude determination, and discloses a satellite sensor and gyroscope combined attitude determination method, a combined attitude determination system and application, and the method comprises the following steps: calculating a satellite attitude at a current moment k through an attitude estimation result of filtering at a k-1 moment and a satellite angular velocity measured by a gyroscope; performing unscented transformation on the mean value of the satellite attitude errors to obtain a sampling point; constructing a nonlinear system equation, performing nonlinear state updating on the sampling point, and performing cholesky updating to obtain a state prediction mean value and a variance square root; constructing a linear measurement equation, and performing linear measurement updating according to the predicted attitude error mean value; using Kalman filtering to fuse observation information and a predicted value to estimate an attitude error; and c