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An attitude estimation of crane hook system based on Micro-Electro-Mechanical Systems (MEMS) sensors is proposed to address the problem of the inefficiency of crane due to the unstable movement of hook,the windy condition and foggy weather. A three-dimensional hook motion model is built to eliminate the negative effects of hook torsion; by fusing the data acquired from the MEMS gyroscope,accelerometer and magnetometer,the error quaternion extended kalman filter is implemented to solve the variables of attitude angle,oscillating angle and swing angle; Implementation using the designed attitude detection platform of crane based on visual inspection technology has been performed to verify the estimation. Experimental results illustrate the proposed system can effectively fuse the MEMS sensor data,achieve highly precise attitude and realize real-time detection.