Figure 1: Definitions of coordinate systems employed in this paper. CIRF, ITRF, satellite body coordinate system, and satellite orbit coordinate system are denoted as O E-X CIRFY CIRFZ CIRF, O E-X ITRFY ITRFZ ITRF, O S-X BodyY BodyZ Body, and O S-X OrbitY OrbitZ Orbit, respectively. O E is the geocenter, and O S is the mass center of satellite.