Abstract: For precise satellite orbit determination,the transformation should be done between the Celestial Reference Frame(CRF) and the Terrestrial Reference Frame(TRF).Precession and nutation should be considered during coordinate transformation from the CRF to the TRF.IAU1976 precession model,IAU1980 nutation model and IAU2000A precession-nutation model were presented,the differences were compared with IAU2000A precession-nutation model.The results indicate that IAU2000A model is more precise.