Euler angle optimization method in the absence of measurement vector component

The invention discloses an Euler angle optimization method in the absence of a measurement vector component, which comprises the following steps of: firstly, calculating a transformation matrix meeting a gravitational acceleration vector transformation relation; then determining an optimization objective function and optimization parameters; calculating an optimization objective function value under the condition of different values of alpha according to progressively increased delta alpha, then determining an optimization value of the transformation matrix Ct, and finally calculating an Euler angle optimization value. According to the method, only an accelerometer and a magnetic sensor are used, the Euler angle value can be obtained in the absence of the measurement component of the gravitational acceleration vector or the geomagnetic vector, the method can be used for the condition that one or two components of the measurement vector are missing, can adjust the optimization function according to the credibi