The present article views a measuring system for determining the parameters of vessels. The system has high measurement accuracy when operating in both static and dynamic mode. It is designed on a gyro-free principle for plotting a vertical. High accuracy of measurement is achieved by using a simplified design of the mechanical module as well by minimizing the instrumental error. A new solution for improving the measurement accuracy in dynamic mode is offered. The approach presented is based on a method where the dynamic error is eliminated in real time, unlike the existing measurement methods and tools where stabilization of the vertical in the inertial space is used. The results obtained from the theoretical experiments, which have been performed on the basis of the developed mathematical model, demonstrate the effectiveness of the suggested measurement approach.