In order to solve the problem of online interference and poor real-time performance of autonomous attitude estimation based on gyroscope/three-axis magnetometer,a high dynamic moving horizon autonomous attitude estimation method for aircraft based on dual-loop structure is proposed to improve system accuracy and anti-interference ability while meeting high dynamic application scenarios.Firstly,two independent units:attitude estimation system and three-axis magnetometer online calibration are established,and by constructing a residual set,the two are organically integrated,so that each filter has different update frequencies and lower state orders.Then,based on the sensitivity matrix,a high dynamic moving horizon estimation method is constructed by using the asynchronous characteristics of the gyroscope and the three-axis magnetometer to further optimize the real-time performance of the system.Finally,simulation experiments show that the proposed method improves the online operation accuracy of the system,reduces computational waiting time,and meets the requirements of high dynamic and high-precision carrier application scenarios.