The measurement process of the attitude Angle based on single trailing earth horizon sensor is investigated, and an analytical formula of attitude compensating error is obtained.

基于单轨迹地平仪研究了地平仪测量姿态角的过程，得到了解析形式的姿态角误差补偿公式。

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Since the measurement of the yaw angle is unavailable by horizon sensor, an attitude control scheme of the satellite is proposed based on yaw observer.

由于采用的红外地平仪无法测量卫星的偏航信息，提出了一种基于偏航观测器的姿态控制方案。

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