Aiming at the problem of attitude resolution distortion caused by angle of inclination measurement errors in measurement while drilling, a joint estimation method based on Kalman filter and cross-correlation extraction was proposed. Firstly, a limiting filter is used to filter the impact noise, and then Kalman filter is used to remove most of the whitening noise caused by vibration. Finally, the crosscorrelation detection method is used to extract the accurate radial tangential gravity acceleration, and the axial acceleration is smoothed, so as to complete the estimation and compensation of angle of inclination measurement error. Simulation experiments show that angle of inclination measurement error is less than 0. 1°. Compared with traditional methods, this method can greatly improve the precision of deviation angle measurement.