Abstract: Moving Drones and Self-Missioned Robot Systems are Increasing in our society. The roles of robots continues to expand into areas that robots have never been able to do. In response to these changes in technology, there is an increasing demand for Navigation and Attitude measurement system, and relevant studies are underway. Specially using Mems gyro, accelerometer, magnetic compass is very cheeper way then others. But Mems system has critical problems because Integration errors are accumulated and it is weak from electric noise and magnetic effect. In this paper suggest high-level reliable Mems IMU using Sensor Fusion algorithm, kalman filter and system evaluatuon with 6-axies motion platform.