The modeling analysis technique is one of the most important approaches in space-flight mission. Based on the dynamical analysis, the copling models of the attitudes with angle velocities were successfully decoupled into two series independently differential equations. And, these two series models were integrated into an extended dynamic-measurement system with joint relationship equations. This new integrated model could be widely used in attitude determination, attitude control and attitude monitoring of the spinning spacecraft. Based on this integrated model, a series of practical algorithms were described to estimate attitude as well as spinning angles velocities with high precision.