The invention relates to a 
spacecraft high-precision angular motion measuring method based on rotor-type 
gyroscope biorthogonal configuration, and belongs to the technical filed of inertial navigation. An 
analytic relation including the posture angular rate and 
angular acceleration information of a 
spacecraft is obtained by utilizing 
resultant external moment radially borne by a 
gyroscope rotor, under the situation that an inertial 
coupling item and a cross 
coupling item caused by 
spacecraft angular motion are not neglected, the inertial 
coupling item and the cross coupling item are eliminatedthrough 
information fusion operation of a plurality of gyroscopes in the biorthogonal configuration, and thus the 
analytic relation including the angular rate and the 
angular acceleration of the spacecraft is obtained in a combined mode. Due to the fact that the inertial coupling item and the cross coupling item are reserved, the measuring precision of the spacecraft high-precision angular motionmeasuring method only depends on a 
gyroscope error and a configuration mounting error and is not lowered with increasing of the 
dynamic range of the spacecraft. According to the spacecraft high-precision angular motion measuring method, the prominent contradiction between the measuring precision and the 
dynamic range in a traditional posture angular rate and 
angular acceleration measuring methodis effectively overcome. The spacecraft high-precision angular motion measuring method can be applied to high-precision and high-bandwidth measuring of the angular rate and the angular acceleration ofthe spacecraft.