The photometric measuring model of spacial objects is established based on the shape reflection of the objects and the motion relationship among the sun, the earth and the spacial objects. The effects of the attitude, the angular speed, and the object shape on the photometric measuring data are analyzed. The kinematic model related to the attitude angle and the angular speed of the objects is established which realizes the joint estimation of the attitude and the angular speed, and the adaptive estimation capability of the algorithm is discussed. The simulation results shows that the photometric observation scheme can realize the joint estimation of unknown attitudes and angular speeds. The algorithm has an adaptive estimation ability when the attitude and the angular speed change slowly. However, with the increase of the side face number, the estimation errors of attitude and angular speed increase and the convergence rate of this algorithm decreases.