Due to the high complementarity of visual and inertial sensors, fusion of visual and inertial data is a common method for attitude measurement.With the development of airborne and vehicle-mounted equipment, the traditional attitude measurement on a stationary base cannot meet the needs of some practical application scenarios.Because of the interference of the movement information of the base, it is difficult to measure the attitude of the target on the moving base accurately and quickly.In order to make use of the advantages of visual/inertial fusion, and realize the relative attitude measurement of a target on moving base, this paper proposes an attitude measurement system based on monocular vision and dual gyroscopes.The establishment of coordinate system in measurement system and the relative relationship between coordinate systems are analyzed, and the scheme of coordinate system normalization is put forward.The cubature Kalman filter is used to fuse the visual with inertial data to achieve high-precision, wide-range, fast and stable attitude measurement.The experimental verification is carried out on the platform of vision and inertia fusion attitude measurement system, and the results prove the effectiveness of the system coordinate system normalization scheme and fusion algorithm.The experimental results show that the built system has high accuracy, and the RMSE of the fused pitch angle and azimuth angle is less than 0.1°.