Attitude estimation method considering accelerometer temperature drift error

The invention provides an attitude estimation method considering a temperature drift error of an accelerometer, and the method comprises the steps: carrying out the online estimation of a temperature proportionality coefficient k and a zero offset through Kalman filtering when a GPS signal exists; when no GPS signal exists, firstly, a proportionality coefficient k and zero offset estimated before interruption of the GPS signal are used for carrying out temperature compensation on acceleration; secondly, the acceleration obtained after temperature compensation is subjected to primary integration, and a speed parameter is obtained; thirdly, carrying out primary integration on the speed parameter to obtain a position parameter, and carrying out attitude angle calculation; and finally, updating the azimuth cosine matrix. The positioning precision is improved, the attitude matrix is updated by compensating the temperature error in the static state, the attitude estimation precision is improved, and the method has