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In this paper, an inexpensive sensors-based attitude measurement system has been developed, and a novel attitude parameters calculation method is provided. The system consists of a low-cost tril-axial accelerometer, a low-cost tri-axis magnetic sensor and a microprocessor to detect the attitude parameters in real-time. Compensation techniques are shown to offset for temperature effects and nearby ferrous material disturbances. The reliability and performance of the designed system have also been verified through real experiments which show that the new system has great potential in applications.