To solve the problem of the attitude algorithm in the lifting process of optic-electronic mast,a new attitude measurement method of optic-electronic mast was proposed.The top point attitude(pitch angle θ,roll angle γ,azimuth angle ψ) in the process of optic-electronic mast lifting was measured in real-time through single IMU.Using transformation matrix of mast attitude between the original position and the lifting position,working attitude of optic-electronic mast(twist angle ,inclination angle α,direction angle β) was calculated in real-time.The attitude equation was theoretically derived and the models of dynamic attitude were built.Attitude measuring system was set up by using the attitude sensor MPU6050,and the models of mast attitude were verified.Experimental results show that the work attitude of optic-electronic mast can be measured accurately when |θ,γ,ψ|<90°.