At present,when a single soldier uses barrel-type munitions,the hit probability improvement is mostly based on the preposition method,which depends on the shooters estimation of target motion information.Target motion information mainly includes the angular rate and yaw angle of the targets lateral motion relative to the shooter,as well as the targets speed in the direction of weapon/target connecting line (radial direction).Based on this,a scheme of real-time measurement of target motion information using MIMU fixed on the launcher is proposed,in which Kalman filter algorithm is used to suppress noise in sensor data,and the equivalent rotation vector algorithm is used to calculate the attitude angles.A test prototype is designed,and the feasibility of the proposed scheme is verified through tests.The test results show that,the maximum deviation of lateral angular rate is 0.001 5 (°)/s and 0.002 5 (°)/s at the firing angles of 5° and 28° respectively,so that the shooter can obtain accurate target motion information,thereby improving shooting accuracy and alleviating operation burden.