High-frequency attitude vibration usually exceeds the measurement frequency range of spaceborne gyroscopes and star sensors,resulting in a decrease in the accuracy of satellite attitude determination. Thus,a method for high-frequency attitude determination based on the regular attitude sensors was proposed. The key idea is that the high-frequency attitude of the spacecraft was sparse in the frequency domain and can be recovered from the normal-sampling-rate measurements. In this method, the normal-sampling-rate attitude sensors and indirect Kalman filters were used to estimate attitude. The filters′ estimation results were merged, and the high-frequency attitude was recovered from the merged data using the compressive sampling algorithm. The effectiveness of the method was verified by simulation experiments.