This article presents the creation of a basic platform for inertial measurements. It will be used in the development of an automatic pilot for the unmanned aerial vehicle (UAV) projects from Instituto Militar de Engenharia (IME). The platform consists not only of the hardware which contains the sensors capable of doing inertial measurements, but also of a basic firmware capable of estimating the attitude of the platform, effectively creating an attitude and heading reference system (AHRS), as well as a software with which it's possible to view the generated data.