As a critical device for navigation and attitude control，the inertial measurement unit（IMU）in control systems is required to deliver high navigation accuracy and real-time performance. Conventional methods for designing low-pass digital filters in IMUs suffer from significant time delay issues. To this end，this paper proposes a low-latency digital filter design approach. The low-pass infinite impulse response（IIR）filter effectively attenuates high-frequency noise and reduces low-frequency noise interference. The improved IIR notch filter model limits the amplitude of noise at high-energy frequency points. The experimental results show that the proposed low-latency digital filter design not only simplifies the implementation process but also improves filtering accuracy in dynamic scenarios compared to traditional approaches. With a 2.6 ms reduction in time delay，this method demonstrates considerable potential for engineering applications.