Aiming at the low precision of the MEMS inertial device and the MEMS inertial system cannot meet the requirements of the platform attitude accuracy, and then this paper proposes an attitude-oriented method based on the MEMS device. When the carrier moves at a uniform speed, using the accelerometer and magnetometer information, the vertical gyro principle is used to obtain high-precision attitude information. And the gyro drift is estimated by Kalman filter. When the carrier is not moving at a uniform speed, the inertial attitude recursive update algorithm is used to compensate the correction torque and the gyro drift error, and the orientation accuracy of the carrier is improved. The experimental results show that the attitude accuracy of the MEMS system reaches 0.6°after using the attitude measurement method. The accuracy is obviously higher than that of the traditional method, which can meet the requirements of most medium and high precision platforms.