Aiming at problem of attitude calculation of snake-like robot

gyro exists drift characteristics

measured value of accelerometer includes gravity and motion acceleration

magnetometer vulnerable to ambient geographic magnetic interference

and snake-like robot use embedded microcontrollers

which reduce the need of computation amount.Therefore

design inertial sensor data fusion is achieved with complementary filtering and attitude calculation is carried out with quaternion method.Experimental verification show that using complementary filtering and quaternion method can effectively fuse sensor datas

amount of calculation is small

and can meet requirements of precision and real-time for snake-like robot.