Abstract: The Kalman filter is an unbiased and linear filter of s tate vectors of the dynamical measurement system, which has simple recursive al gorithms and widely usage in the field of spacecraft control. Much attention is paid to practical approaches and some detailed cases of Kalman filter, and a new kind of fault tolerant filtering algorithm is built to estimate the attitude p arameters of the spin stabilized satellite and the system errors of measurement data. The strating values of recursive filters and estimators of covariance of errors are deduced and some valuable suggestions are given.