Test Bed for Verification of Attitude Control System angular velocity. The figures demonstrate that using sun and magnetic vectors and without using gyro measurement, the angular velocity is estimated with good accuracy. We can see an acceptable accordance between the estimated and real attitude of the simulator. In fact, the test results demonstrate the validity of the proposed design. Figure 6 reports the commanded magnetic field vector to the Helmholtz coils and the magnetometer measurement. Figure 7 shows the angle error between the commanded and the measured magnetic vector. Similarly, Figure 8 shows the commanded sun vector and the sun sensor measurement and Figure 9 shows the Figure 6. Commanded and measured magnetic field vector. Figure 5 (a) Estimated and measured ω_x in attitude maneuver. (b) Estimated and measured ω_y in attitude maneuver. (c) Estimated and measured ω_z in attitude maneuver. 20 Figure 7. Magnetic vector error. IEEE A&E SYSTEMS MAGAZINE JUNE 2017