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Aiming at the phenomenon that the traditional two wheel balance detection system is easy to be affected by environmental factors such as noise, resulting in measurement error, a two wheel balance system design based on Kalman filter is proposed. Sca610-ca1h1g attitude sensor is selected and the structure of attitude sensor is designed based on MEMS technology. It has a variety of optional data output modes. Three 12v12ah lead-acid batteries were connected in series with 36V power supply to provide sufficient power for the system. The main control chip Pentium II / III / 4 Series CPU is designed, and its state information is described and output. The denoising process based on Kalman filter is designed, and the error correction model is constructed. The quaternion rotation matrix is transferred to the current equipment coordinate system for processing. The process of the attitude matrix rotation from the body coordinate system to another coordinate system is obtained. The measured values are normalized and the dimensionless scalar is obtained. The quaternion is updated and the attitude detection is completed by using the timing sampling third-order approximation method. According to the experimental results, the highest monitoring accuracy of the system is 92% in 0-15db noise environment or 15-30db noise environment, which provides equipment support for automobile and aerospace fields.