A spacecraft attitude determination method based on the CD-RSF algorithm is proposed to solve the filtering problem of the spacecraft attitude determination system with model uncertainty and large initial error. In this method, CD-RSF which is more robust is available to estimate spacecraft attitude with model uncertainty. And center differential is introduced to solve intractable integration in RSF. This method can eliminate the phenomenon of slow filtering convergence
and divergence caused by model uncertainty and large initial error, so that the attitude determination algorithm is more robust. The simulation results show the effectiveness of the proposed method.