High-precision horizontal attitude measurement method and system in complex dynamic environment

The invention discloses a high-precision horizontal attitude measurement method and system in a complex dynamic environment. The method comprises the following steps: calculating an initial attitude matrix; respectively carrying out filtering feedback compensation on output increment information of the accelerometer and the gyroscope; constructing a speed updating equation, an attitude updating equation and a position updating equation; constructing a Kalman filtering state equation and a measurement equation; and constructing a Kalman filtering equation, carrying out partial feedback correction when the continuous rotation cumulative time exceeds the set time, and carrying out feedback correction on all state quantities when the continuous rotation cumulative time is less than the set time. The method can adapt to the processes of alternate rotation and stop at different rotating speeds, erection of the radar antenna and the like, high-precision horizontal attitude measurement of the radar large disc in the