Abstract: In view of problem that measuring result is inaccurate while using single angle sensor to realize attitude angle measurement of hydraulic support on fully mechanized coal mining face, an attitude angle measuring system of hydraulic support based on tilt sensor and gyroscope was proposed. The system uses SVT626T type tilt sensor and ML7100 type three-axis gyroscope to measure inclination angle and axial deflection angle, and data of the two kinds of sensor are fused by Kalman filter taking pitch angle as an example. The Matlab simulation and experimental results show that the system can effectively solve the problems of the measurement error caused by acceleration of the top beam and the drift and error accumulation of the gyroscope caused by long time measurement, and improves the attitude measuring accuracy.