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Attitude heading reference system(AHRS)is the key part for four-rotor aircraft to its posecontrol and inertial measurement. The long-term stability of initial navigation system based on MEMS is poor, there exists obvious zero drift phenomenon, so error compensation and calibration of Gyro and Accelerometer must be completed before using it. Based on real time data collection and processing, and error producing analysis, this paper proposes a novel error compensation model for Gyro and Accelerometer, and this new error compensation and parameter calibration method based on Gauss-Newton algorithm is proposed. The method simplifies calibration procedure and obtains calibrated parameter value. Experimental results verify the effectiveness of the proposed method on the condition of no additional cost and accuracy loss. 