Abstract: To satisfy the requirements of measuring the roll attitude of guided amunition, a novel gyroscope-free attitude measurement method was proposed. The configuration of inertial sensors was designed by two micro-electro-mechanical systems (MEMS) accelerometers in attitude measurement system. System state equation was set up based on truncation Gauss probability density model. The adaptive velocity estimation model (AVE) was adopted to achieve the adaptive adjustment of the process noise covariance matrix. A strong tracking filter (STF) was employed for state estimation. With the robustness to model unfitness and the strong tracking ability to state variety, the STF could improve the precision of attitude estimation. Simulation study shows that this method has the characteristics of high accuracy and fast convergence, and also it has high value in engineering practice.