As an important component of the inertial navigation, inertial device is usually composed of gyroscopes and accelerometers. To complete the evaluation of its performance, it is needed to develop a specialized data acquisition system. The traditional set of data collection is becoming more and more difficult to meet the test needs due to the huge volume, technology updated difficulties, and poor reliability. With the rapid development of FPGA technology, the IMU data acquisition system is smaller and more simple. Through the XC3S1000-4FT256I chip of XILINX, the gyroscope, accelerometer IMU output pulse signal of pulse signal and a temperature sensor signal input directly to FPGA for processing, the pulse data collection, through the practical application in the two axis turntable. By comparing a large amount of test data and analysis, we found that the stability of the IMU data increased nearly 1 sigma, compared with the traditional method.