An attitude heading reference system consists of sensors on three axes that provide heading, attitude and yaw information for aircraft. They are designed to replace traditional mechanical gyroscopic flight instruments and provide superior reliability and accuracy.

AHRS consist of either solid-state or MEMS gyroscopes, accelerometers and magnetometers on all three axes. The key difference between an IMU and an AHRS is the addition of an on-board processing system in an AHRS which provides solved attitude and heading solutions versus an IMU which just delivers sensor data to an additional device that solves the attitude solution. A form of non-linear estimation such as a Kalman filter is typically used to compute the solution from these multiple sources.[1] AHRS differ from traditional inertial navigation systems by attempting to estimate only attitude (i.e. roll, pitch, yaw a.k.a. attitude) states, rather than heading, position and velocity as is the case with an INS.

It started on 2004 as a private R&D and educational project for few weekends.

It was my first attempt to work with MEMS Gyros & accelerometers.

On 2006, I used it to perform some inertial measurements on a plane we were going to use. I needed to measure the typical vibrations, forces and rotation rates during the flight.

On 2013 I 3D-Printed a nice enclosure for it.