The invention relates to a method of controlling the attitude of a satellite (1) comprising two gyrodynes (3,4) and a third main actuator (2) which delivers torques at least along the Z axis. The inventive method consists in: fixing the gimbal axes, A1 and A2, of the gyrodynes (3, 4) parallel to Z; setting a non-zero bias (e) between the angular momentum vectors (Formula I) of the gyrodynes; using the measurements provided by the sensors on board the satellite to estimate the kinematic and dynamic variables necessary in order to control the attitude of the satellite (1); calculating set variables in order to realise the objectives assigned to the satellite (1) attitude control system; and using the deviations between the estimated variables and the set variables to calculate control orders and to send same to the main actuators (2, 3, 4) in order to control the changing deviations over time, the control orders transmitted to the gyrodynes (3, 4) comprising orders which are used to vary the orientation of the gimbal axis thereof.
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