Automatic water-washing vehicle is an important maintenance equipment for contact line insulator, the change of pose and position in forward moving of the vehicle (carrier) interferes with the trackingwashing effect. For the change of position, Kalman filter was used to predict the position of the carrier; for the change of pose, IMU was used to measure and calculate pose change, calculating the influence on the flushing tube and its compensation. The value of the filtered position of the carrier was fused with the compensation of pose, the change of the position and pose could be balanced out by the control of the yaw angle and pitch angle of the washing device. The filtering process and isolation & compensation for position and pose are verified in MATLAB, which has good convergence and high precision and can be applied to the automatic waterwashing vehicle.