Attitude control feedback loop based on combined fixed attitude of multi-rate sensor

The invention relates to a attitude control feedback loop based on a combined fixed attitude of a multi-rate sensor, which comprises an attitude sensor subsystem, an attitude determining subsystem based on multi-scale modeling, and an attitude control subsystem, wherein the attitude sensor subsystem comprises a gyro, a solar sensor and a magnetometer and outputs attitude measurement information with multi-rate characteristics; the attitude determining subsystem is used for describing measurement information of each sensor from different scales by using a multi-scale analyzing method and estimating the satellite attitude angle on the basis of the established multi-scale model; and the attitude control subsystem is used for controlling the satellite attitude and feeding the controlled attitude information back to the attitude sensor subsystem so as to form the attitude control loop. The attitude control feedback loop is used for carrying out multi-scale modeling by using the multi-scaleanalyzing method, thereby improving the attitude determining precision while reducing the complexity of an attitude combining and fixing process.