The invention discloses a two-wheeled self-balancing intelligent vehicle posture control method, which belongs to the technical field of inertial navigation. An inertial sensor gyroscope and an accelerometer in rigid connection with the intelligent vehicle are used for acquiring original posture inclination angle information, and on the basis, Kalman filtering is used for carrying out data fusion on the gyroscope and the accelerometer, and the posture inclination angle information for thoroughly describing the motion state of the intelligent vehicle can be accurately acquired. The method of the invention inhibits accelerometer interference noise caused by dynamic acceleration, overcomes the lag problem caused by time integration by the gyroscope and can be applied to posture calculation for systems such as a two-wheeled self-balancing robot and a quadrocopter. Verification is carried out via a two-wheeled self-balancing intelligent vehicle platform, and the solution accuracy and the response speed are good.