Abstract: An optimized angle decomposition method based on Jacobi matrix was analyzed, considering the effect of rotational angular velocity for humanoid vision system. Firstly, the two-stages four-degrees' coordinate was established, and the system model based on this coordinate was built. Secondly, considering the rotational angular velocity of eyes and neck, a target tracking mathematical model of angle decomposition, considering various rotation angular velocities, was built based on Jacobi matrix. Lastly, through experiments, the influence of rotation angular velocity in each degrees of freedom on rotation angle decomposition under the condition of optimization was studied. After that the optimized angle decomposition model based on the system mentioned above has been settled. By experimental data, within a given range, the ratio of decomposed eyes and neck rotation angle is equal to the ratio of rotational angular velocity of eyes and neck. And compared with split method, the method described in this article has remarkable advantages on time efficiency.