Zi Yuan 3(ZY-3) is the first civilian high resolution stereo mapping satellite in China. The attitude control system of ZY-3 is introduced. By calibrating the relative reference of star sensor and applying the star sensor and gyro integrated filter, the high accuracy of attitude determination is achieved. High stability of three-axis control is realized by adopting a structure filter and using the feedforward compensation of magnetic unloading torque. The largeangle roll maneuver is achieved by using trajectory planning. Based on on-orbit data of ZY-3 satellite, the implementation of specific indexes is proposed. Furthermore, the scheme of control system is tested on orbit.

Focusing on the relative attitude pointing control demand for highly eccentric orbit spacecraft during the period of rendezvous with a HEO target， a kind of agile and highprecision visual tracking attitude control method is proposed, which combines thruster and angular momentum actuators. Firstly， an actuator configuration is designed according to the relative attitude control process. Based on the satellite attitude dynamic models using thruster and angular momentum exchange device as actuators, the visual kinematics equation is derived via relative quaternion method. Secondly, a phase plane jetting control law is designed taking into account the demands for agile attitude maneuver in the rapid approaching phase of rendezvous, a robust sliding mode control law is designed as well, according to the demands for high precision and high stability visual tracking in the final rendezvous phase. Finally, a simulation example is deployed, and the result shows that the precision of visual tracking control within 100 km rapid rendezvous phase reaches 0.005 3°, which validates the effectiveness of the whole control algorithm.

Frequency spectrum planning is a concept in the field of wireless communications. In this paper, the use of frequency spectrum planning in dynamics designing of remote sensing satellites is presented. Onboard resonance between periodic moving parts and the structure dynamics can be avoided by planning the spectrum of frequencies. A remote sensing satellites on geostationary orbit is taken for example. Five interference torques onboard are prevented from affecting the specifications of the mission.

In MEMS_SINS/GPS integrated navigation systems, there exist uncertain/unknown disturbances, and the output of GPS often contains fault signals. In order to deal with these problems, an H∞ faulttolerant filter is proposed, which is robust against uncertain disturbances and can take faulttolerant computation after a fault is detected. With this function, the filtering accuracy is kept in the required range during the whole process. Based on the H∞ filter, weighting factors are added into the state estimation equation. In addition, the measurement component is weighted individually so that this algorithm is applicable to the situation with very different measurement magnitude. The simulation results show that it can significantly reduce the impact of the fault signals and the system can work in the normal range.

Modern complex spacecrafts usually have large flexible appendages, the elastic deformations of which are usually described by finite element method. However, the number of finite element nodal coordinates is large, which leads to a large computational burden on dynamics and control. Therefore, model order reductions of flexible solar arrays are investigated in this paper. The rigidflexible coupling dynamic equations of a spacecraft with solar arrays are derived based on oneway recursive assembly formulation. Modal truncation method, modal value analysis method and Krylov method are used to reduce the degreesoffreedom of solar arrays. The results using those order reduction methods are compared with the results using the finite element method. The numerical simulations show that with the Krylov method smaller orders are needed, which is in good agreement with that of the finite element method. It means that Krylov method is an efficient method in reducing the degreesoffreedom of flexible spacecraft, which will improve the efficiency of dynamic simulation and the implement of control.

Crosscouplings between the satellitebase and the manipulator occur when the manipulator move around. The cooperative control method is used to decrease the effect of disturbance torque on satellite attitude. The experimental simulation system is designed based on the airbearing table. The manipulator beard by gas is installed on the airbearing platform for simulating the crosscoupling motions in the microgravity condition. The cooperative control method is verified via the experimental equipment, control unit and software on board.

In order to validate the design and manufactory of power transfer modules in the solar array drive mechanism(SADM), a switching shunt simulation method is proposed based on solar array simulator(SAS) and electronic load under the analysis of SADM work condition in orbit. The switching shunt simulation method is applied in the ground testing for SADM power transfer modules. The experimental results show that the switching shunt is simulated effectively. The sufficiency of SADM ground testing is improved.

In order to improve the precision of temperature control for inertia instruments, and aiming at the influence of temperature control system on the stability generated by pure delay element, an optimization design method of temperature control system with a FirstOrder Delay Inertial Element is put forward. This method takes advantage of the balance of the bridge to eliminate temperature tracking error and uses the pulse width modulation (PWM) to increase heating efficiency. At the same time, based on ZieglerNichols setting, it uses the optimization design of PID controller to improve the phase margin of the temperature control system. These approaches enhance the adaptation ability of the temperature control system to the parameters of different instruments. The experimental results show that the temperature control precision is 0.006 ℃（1σ）under laboratory conditions and under the laboratory conditions of temperature cycle with forced convection. This method is simple, effective and easy to select the parameters of resistancecapacitance, at the same time it can meet the high precision requirement for temperature control.

Control moment gyroscope（CMG）is an actuator which plays an important role in agile attitude maneuvering and in steadily attitude maintaining of spacecraft. In order to recognize the microvibration characteristics variation of the CMG subjected to mechanical tests, the acceleration responses and forcemoment responses are measured via accelerometers and multicomponent dynamometer respectively, when the CMG is operating. Then, statistical analysis in time domain and FFT analysis in frequency domain are implemented. The results show that the components of ball passage frequencies and those multiples, which are caused by the eccentricity and point defects of bearings, dominate the acceleration responses, but they are all over 300 Hz. However, the component of nominal frequency of rotor spin still dominates when acceleration responses are converted into displacement responses, which is also confirmed by forcemoment responses. The microvibration of the CMG subjected to mechanical tests becomes worse, which mainly results from the augmentation of the static and dynamic imbalances, from the augmentation of the eccentricity of bearings, and from the damage to bearings. Furthermore, the microvibration amplitude can be also impacted by the dynamic coupling between rotor speeds and structure modes.

In order to meet the requirement for time performance of system communication, a new design method of lower machine communication software is proposed by using transmitting interrupt and receiving interrupt. When GPS added as another host causes a concurrent communication of CAN bus，the reason of interrupt conflict is analyzed and the algorithm is updated to solve the bus collision.

Model checking is an effective formal method that provides rigorous assurance of software quality. A workflow is given to describe the sourceoriented software model checking method. To solve the specification describing problem, a specification language is proposed, which is independent of the source code. Its syntax is easy to use and is compliant with the habits of programmers. Based on the path traversal of programcontrol flow graph, a lightweight model checking method is proposed to support functions verification, interfunctions verification and specification checking.