在电子稳像领域，传统求取图像的旋转角是从连续帧图像序列中提取相关信息计算的，其缺点是计算量大、实时性不高等。本文在惯导模块给出的航向角、横滚角和纵倾角 3个姿态角以及伺服模块给出的方位角和俯仰角两个角度的基础上，利用四元数法，结合空间解析几何知识，推导出图像旋转角。通过车载运动平台线列图像的验证实验表明，旋转角的推导正确，图像经矫正后起到了电子稳像的效果。

In the field of electronic image stabilization, the traditional method of calculating the rotation angle of image is calculating by extracting the relevant information from the sequence of consecutive frames. The disadvantage is large calculation quantity and poor real-time ability. The inertial navigation module got the heading angle, roll angle and pitch angle and the servo module gotazimuth angle and elevation angle. Based on the five angles, the image rotation angle is derived by utilizing the quaternion and space analytic geometry. Through calculating the rotation angle of the linear images of vehicle moving platform shows that the derived rotation angle is correct, which plays a role in electronic image stabilization.