Satellite formation flat root state continuous estimation method and system based on Kalman filtering

The invention discloses a satellite formation flat root state continuous estimation method and system based on Kalman filtering, and the method comprises the steps: obtaining a state equation of a satellite formation relative orbit element based on the satellite formation relative orbit element; obtaining an observation equation of the relative position based on the state equation; on the basis of the observation equation, the inter-satellite state of the satellite formation is predicted; calculating a prediction error variance and a filtering gain based on a state equation and the observation equation; and obtaining the inter-satellite state of the satellite formation based on the inter-satellite prediction state of the satellite formation, the filtering gain and the error variance. The system comprises a first calculation module, a second calculation module, a first state module, a third calculation module and a second state module. According to the method, the inter-satellite relative orbital element equat