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A multi-sensor information fusion based aircraft attitude determination system is investigated. Firstly, A scheme of the aircraft attitude determination system including multiple sensors is designed, in which gyroscope measures the angular velocity, the strap-down accelerometer measures the acceleration, the magnetic heading meter measures the yaw angle, and the GPS measures the velocity. Secondly, the measurement models of the multiple sensors are described. Thirdly, an information fusion filtering algorithm which is equal to Kalman filtering is derived based on information fusion estimation theory, and is used to obtain the attitude estimation and the velocity estimation of the aircraft by fusing all the measurement information. Finally, the simulation results show the feasibility and the effectiveness of the proposed aircraft attitude determination system.