This paper focuses mainly on the mathematical model of ground target tracking of a video satellite and the design of an attitude tracking controller. Firstly, the desired attitude quaternion and the desired attitude angular velocity are presented respectively according to the orbit kinematic and attitude kinematic. Then, a feedback PD controller based on the error quaternion and error attitude angular velocity is designed, and the stability of the designed controller is analyzed by using the Lyapunov stability theory. By setting the deviation of area CCD in the exposal time to be smaller than 03 pixel, the minimum attitude pointing error and attitude velocity error are induced. Finally, physical simulation of staring-imaging by a video camera is conducted on the minitype three-axis air bearing table. Simulation results suggest that the pointing error is less than 0.1°, and that the attitude velocity error is less than 0.012(°)/s, which meets the requirements of staring-imaging of area CCDs.