An attitude measurement system based on micro-electro-mechanical systems（ MEMS） inertial sensors is presented.Analyze shortage of traditional attitude resolving algorithms in fusion process

an efficient fusion algorithm is presented

use observed quantity of accelerometer and magnetometer on gravity field and magnetic field vector of the earth to revise attitude information given by gyroscope.Aiming at interference problem of vibration on attitude

the Chebyshev II low-pass digital filter are used in sensors data preprocessing

and revice fusion algorithm

combining motion state to restrain vibration.Experiments show that the algorithm of system has low computational load

can effectively estimate attitude and can suppress the influence of harmful acceleration of vibration on attitude estimation

and dynamic error of measurement is less than 2°

and static error is less than 0. 8°.