Method and device for measuring attitude of moving carrier in real time

The invention relates to a moving carrier attitude angle real-time measurement method and device. The method comprises the following steps: acquiring an angular velocity and an accelerated velocity of a motion carrier collected by an inertial sensor in real time; according to the angular velocity and the acceleration, performing optimization estimation on the attitude quaternion through a conjugate gradient method meeting a descent condition to obtain an optimization estimation value; respectively establishing a system model of the angular velocity and the attitude angle and an observation model of the acceleration and the attitude angle, and establishing an unscented Kalman filter recursion equation according to the system model and the observation model; and importing the optimization estimation value into an unscented Kalman filter recursion equation, and calculating to obtain the attitude angle of the motion carrier. By adopting the method, the calculation accuracy of the attitude angle of the motion carr