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This paper is the second part of a series of studies discussing a novelattitude determination method for nano-satellites. Our approach is based on theutilization of thermal imaging sensors to determine the direction of the Sunand the nadir with respect to the satellite with sub-degree accuracy. Theproposed method is planned to be applied during the Cubesats Applied forMEasuring and LOcalising Transients (CAMELOT) mission aimed at detecting andlocalizing gamma-ray bursts with an efficiency and accuracy comparable to largegamma-ray space observatories.  In this paper we introduce a simulation model aimed at testing theapplicability of our attitude determination approach. Its first part simulatesthe orbit and rotation of a satellite with arbitrary initial conditions whileits second part applies our attitude determination algorithm which is based ona multiplicative extended Kalman filter. The simulated satellite is assumed tobe equipped with a GPS system, MEMS gyroscopes and the infrasensors. Theseinstruments provide the required data input for the Kalman filter. Wedemonstrate the applicability of our attitude determination algorithm bysimulating the motion of a nano-satellite on Low Earth Orbit. Our results showthat the attitude determination may have a 1$\sigma$ error of $\sim30'$ evenwith a large gyroscope drift during the orbital periods when the infrasensorsprovide both the direction of the Sun and the Earth (the nadir). This accuracyis an improvement on the point source detection accuracy of the infrasensors.However, the attitude determination error can get as high as 25$^{\circ}$during periods when the Sun is occulted by the Earth. We show that following anoccultation period the attitude information is immediately recovered by theKalman filter once the Sun is observed again.

Attitude determination for nano-satellites -- II. Dead reckoning with a multiplicative extended Kalman filter