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In this study, an Unscented Kalman Filter (UKF) algorithm is designed for estimating the attitude of a picosatellite and the in-orbit external disturbance torques. The estimation vector is formed by the satellite's attitude, angular rates, and the unknown constant components of the external disturbance torques acting on the satellite. The gravity gradient torque, residual magnetic moment, sun radiation pressure and aerodynamic drag are all included in the estimated external disturbance torquedoi:10.5028/jatm.v6i2.352 fatcat:rlwpwupovvedvd7zvepj4icphi