Recently, as security threats targeting software-based encryption techniques in ultra-small satellite-based communication environments have intensified, there is a growing demand for lightweight hardware-based security mechanism tailored to resource-constrained platforms. Therefore, in this study, we propose a lightweight authentication scheme based on the SSL-PUF by utilizing PUF, which is a physically unclonable hardware characteristic. The proposed scheme performs authentication and key agreement on the satellite itself without the intervention of the ground station based on the partial CRP(Challenge-Response Pair) table stored in each satellite, and can also establish a group key that can be used when operating a constellation satellite based on the matched SSL-PUF pair. Through security analysis, it was confirmed that the proposed scheme is resistant to replay attacks and man-in-the-middle attacks and satisfies the four security requirements. In addition, as a result of analyzing logical consistency and security through BAN Logic, it was confirmed that our scheme performed the interaction between authentication subjects normally and satisfied all conditions for security verification.