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The Inner-Formation gravity field measurement satellite (IFS) was proposed to measure Earth's gravity field with high accuracy and spatial resolution. The integrated orbit and attitude control of IFS during steady-state phase is investigated in this paper. A six degree-of-freedom coupled translational and rotational dynamics model with thruster layout is constructed. The feasible quadratic optimization model of a sort of nonlinear system with input and output constraints is established using present constrained nonlinear model predictive control (CNMPC) method. The quadratic programming is applied to obtain the solution. The formation keeping and attitude stabilization mission is examined by the proposed CNMPC. Simulation demonstrates the feasibility and effectivity of this approach with tradeoffs coordinated and constraints satisfied.