GPS attitude tracking system on the ship is a servo mechanism which could be used for counteracting the effects of the ship’s pitch and roll. But the attitude measurement precision of ship is more important to the tracking precision of the servo mechanism. As one of the major error sources, the noises of GPS attitude measurement bring out the steady tracking error of the tracking servo mechanism. To reduce the steady error due to the noise, the threshold noise removing method of wavelet is used to eliminate the noise. And the better result with the meaning of standard deviation and the better visual effects could be gotten by using the method. The signals of the processed high frequency and the retained low frequency could be reconstructed with the original signals. Therefore, the signals after noise removing could be obtained. The threshold noise removing method of wavelet used to remove the noise of GPS attitude information in the paper is of great value in practice.