In order to achieve complex motion and navigation control, it is important to access space attitude information of control object. This paper presents an efficient low-cost design of attitude measurement system, among which their main features are: monitoring the attitude angles by fusing one tri-axial accelerometer and one tri-axial gyroscope integrated in ADIS16355 (MEMS inertial sensor module); collecting information and calculating attitude angles by using ARMv7 processor Cotex-M3. The makeup of the whole attitude measurement system, function of ADIS16355 and their installation on the object are presented. One kalman filter is then designed as sensor data fusion method for measuring real-time attitude angles. Finally, experimental results are presented based on the comparisons between fused data and reference data from an AHRS500GA instrument, showing that the proposed fusion method gives quite accurate attitude information of the controlled object and the whole attitude measurement system works reliably.