In order to overcome the shortcomings of traditional vehicle attitude measurement methods which realize on mechanical desktop consist of mechanical rotor gyros

a strap-down attitude measurement system based on IMEMS sensors is studied.It adopts quaternion method for attitude algorithm and uses Kalman filter for data fusion of estimated errors of attitude angle quaternion as well as the signals of gyros and accelerations to get the optimal estimation of attitude angles.The configuration and software design of system are discussed.The feasibility of system is proved by vehicle motion tests.The result shows that it can meet the requirement of accuracy of vehicle motion attitude measurement.