The invention provides an attitude measurement method of a micro-electro
mechanical system (MEMS)
inertial navigation system based on single-shaft forward revolution and reverse revolution. Initial position parameters of a carrier are determined by means of a
global position system and are input into a navigational computer; after being pre-heated, an MEMS
inertial navigation system collects output data of an MEMS
gyroscope and output data of an MEMS
accelerometer; according relationship between carrier motion acceleration information measured by the MEMS
accelerometer and local gravity acceleration and relationship between carrier angular speed information output by the MEMS
gyroscope and the earth rotation angular rate, angle information between an
inertial measurement unit (IMU) coordinate
system and a navigation coordinate
system is determined, and an initial alignment process of the
system is completed; the revolution scheme is that an IMU alternately revolves for 360 degrees forwards and reversely around a carrier coordinate system (b coordinate system) and a cycle is completed; an output value of the MEMS
gyroscope under the revolution state of the IMU is plugged into the
inertial navigation system, and a strapdown matrix is updated by
quaternion algorithm; and according to a real-time revolution angle position of the IMU relative to the carrier provided by an angle measurement mechanism, a
transfer matrix of the carrier coordinate system and the IMU coordinate system is built, and by means of combination of the
transfer matrix and an attitude matrix, a
transfer matrix of the carrier coordinate system relative to the navigation coordinate system is calculated. According to the method, modulation for constant deviation of an inertial component is carried out, and attitude precision of the system is improved.