I'm going to suggests some things you can try without using a guided image. If you really have the capability to accurately guide on a moving satellite, then you can skip much of the advice below and just use the equation.
It is going to be a challenge because the satellites are moving while the stars are fixed, so you can't compare exposure values per pixel of the satellites with that of stars if the exposure is long enough that the satellite trails or becomes elongated.
Try a wide or medium field camera and several short exposures and see if you can get an image where the satellite spot is the same size and shape as some nearby stars. As long as the spots are not overexposed, you can assume the values are approximately linear with brightness. You can use an image analysis program of your preference (one example is ImageJ but there are many out there). Draw a small region around each spot and integrate the intensity. Check that the maximum doesn't exceed the maximum value - no pixesl are overexposed. You can try drawing similar small regions in dark areas to estimate the background for subtraction.
If the shape of the satellite is elongated but well above background and not overexposed (same for the stars) then you can try using elongated regions to integrate, but be sure to use the same region shape for the stars, or if they are different, then at least make sure you use the same shape region for object measurement and background measurement before subtraction, in each case.
Once you have an integrated intensity of the satellite and a star, you can use the following:
$$ m_{sat} - m_{star} = 2.5 \log_{10} \left( \frac{star}{sat} \right) = 2.5 \log_{10}(I_{star}) - 2.5 \log_{10}(I_{sat})$$
$$ m_{sat} = 2.5 \log_{10}(I_{star}) - 2.5 \log_{10}(I_{sat}) + m_{star} $$
So for example if the integtated intensity of a dimmer, +1 magnitude star is 1,500 and of the satellite is 42,000, then the satellite is -2.6 magnitude.
Below is an example of integrating regions for a star and and a satellite trail.
