Attitude and Heading Reference System (AHRS) relies on the combination of GPS differential carrier-phase signals and inertial rates that are standard within the AIMMS product line. Three AIMMS modules comprise the AHRS: the dual-processor GPS module, the IMU module and the Central Processing Module (CPM), where the CPM is loaded with AHRS-specific firmware. By fusing the absolute precision of GPS carrier-phase analysis with the responsiveness of inertial sensors, the AHRS is well suited for dynamic platforms where robustness of the solution is paramount in an environment with highly variable GPS signal quality.