Attitude Matrix Calculation Method and Device

A method includes calculating, based on a first coordinate transformation matrix and a measured value of a gyroscope that corresponds to the ith sampling moment, a second coordinate transformation matrix corresponding to the ith sampling moment, where the first coordinate transformation matrix is a constant matrix, the first coordinate transformation matrix is a coordinate transformation matrix between a sensor coordinate system and a foot coordinate system, the second coordinate transformation matrix is a coordinate transformation matrix between the foot coordinate system and a ground coordinate system, and i is an integer greater than 0, and calculating, based on the first coordinate transformation matrix and the second coordinate transformation matrix corresponding to the ith sampling moment, an attitude matrix corresponding to the ith sampling moment, where the attitude matrix is a coordinate transformation matrix between the sensor coordinate system and the ground coordinate system.