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In order to solve the problem of attitude divergence caused by gyroscope which is interfered by the linear acceleration when use MEMS inertial navigation device to measure the attitude of the human arm movement, propose an attitude error compensation method based on Kalman filter algorithm. In this method, the attitude angle will be calculated first by angular velocity gyroscope output through direction cosine algorithm solution, through the establishment of the attitude angle drift error state equation and observation equation, attitude angle drift error will be estimated accurately and eliminated then. The experimental and simulation results show that , algorithm used in this paper can suppress the divergent attitude effectively and is suitable for gyroscope to measure the attitude of the human arm movement.