  Attitude estimation or determination is a fundamental task for satellites to
remain effectively operational. This task is furthermore complicated on small
satellites by the limited space and computational power available on-board.
This, coupled with a usually low budget, restricts small satellites from using
high precision sensors for its especially important task of attitude
estimation. On top of this, small satellites, on account of their size and
weight, are comparatively more sensitive to environmental or orbital
disturbances as compared to their larger counterparts. Magnetic disturbance
forms the major contributor to orbital disturbances on small satellites in
Lower Earth Orbits (LEO). This magnetic disturbance depends on the Residual
Magnetic Moment (RMM) of the satellite itself, which for higher accuracy should
be determined in real-time. This paper presents a method for in-orbit
estimation of the satellite magnetic dipole using a Random Walk Model in order
to circumnavigate the inaccuracy arising due to unknown orbital magnetic
disturbances. It is also ensured that the dipole as well as attitude estimation
of the satellite is done using only a magnetometer as the sensor.
