The inertial sensor MPU6050 is used for the attitude angle measurement of moving body. A complementary filtering algorithm with adjustable parameters is proposed, which is compared with the classical complementary filter,explicit complementary filter, the gradient descent algorithm and the embedded algorithm of the sensor.The adaptability analysis of several algorithms in engineering application is given in the paper. 〖HJ*4/9〗The tests show that this kind of complementary filtering algorithm is easy to be realized in embedded system,which has clear ideas, low computational load and higher accuracy.The comprehensive performance of the improved algorithm is best,so it is suitable for all kinds of sports attitude measurement system.