In　order　to　make　the　end　of　the　three-axis　platform　follow　the　control　command　and　achieve　stable　control　of　the　end　attitude,　an　improved　orientation　vector　spherical　linear　interpolation　(SLERP)　method　is　proposed　for　the　requirements,　which　specifically　handles　the　position　of　the　gimbal　lock,　so　that　the　platform　can　move　smoothly　around　the　gimbal　lock　position.　A　three-axis　platform　with　a　camera　at　the　end　is　set　up　for　the　validity　of　the　proposed　algorithm.　At　first,　an　adaptive　speed　measurement　method　based　on　incremental　encoder　is　introduced,　which　can　automatically　adapt　to　high　and　low　speed,　and　estimate　the　ultra-low　speed　to　realize　the　speed　measurement　of　large　dynamic　range,　and　this　is　used　for　the　motion　control　of　the　three-axis　platform.　Then,　the　SLERP　method　for　the　quaternion　interpolation　on　the　starting　and　ending　attitudes　represented　in　quaternion　is　introduced　in　detail,　and　it　is　continuously　improved　in　response　to　its　existing　problems　for　the　platform.　Finally,　an　orientation　vector　SLERP　method　is　proposed,　which　uses　viscosity　factor　and　rejection　factor　to　adjust　the　algorithm　near　the　platform＇s　gimbal　lock　position.　A　tracking　experiment　was　designed　using　the　red　ball　as　the　following　target　detected　by　the　designed　target　tracking　algorithm　using　the　camera,　which　verified　the　effectiveness　of　the　attitude　tracking　control　based　on　the　proposed　improved　orientation　vector　SLERP.