This paper deals with designing and implementation of Attitude and Heading Reference System (AHRS) which based on data fusion of multi-sensor. And it presents an approach of designing a low cost AHRS which used Micro Electronic Mechanical System (MEMS). In our approach, AHRS is made up of a 3-axes MEMS accelerometers, a 3-axes MEMS rate-gyros, an electronic compass and a FPGA which is used as the signal processor. Furthermore, a rotation quaternion and a Kalman Filter were the options as multi-sensor data fusion and integration. Finally, an experiment was introduced to analyze the attitude data carried on quadrotor. The simulation test shows when the carrier is in dynamic environment, the attitudes error are within 2°. The results show that the designed AHRS provided stabilized attitude and heading angles in dynamic conditions which improved the quadrotor's attitude and heading control.