A system configured to be installed in a vehicle, the system comprising: first processing circuitry configured to determine attitude and heading data of a vehicle using vehicle inertial data provided by one or more inertial measurement units, IMU; second processing circuitry configured to generate one or more control signals configured to control components of the vehicle which alter vehicle velocity, the control signal generated using the attitude and heading data and at least one command signal interface circuitry communicatively coupled between the first processing circuitry and the second processing circuitry, wherein the interface circuitry is configured to receive the inertial data, to provide the inertial data to the first processing circuitry, and to provide the attitude and heading data to the second processing circuitry, and wherein the interface circuitry comprises an interface to at least one of (a) at least one bus and (b) at least one network shared by the first processing circuitry and the second processing circuitry; and at least one other sensor, configured to acquire vehicle position, vehicle speed, vehicle altitude above terrain and/or one or more structures and/or vehicle heading, and/or a location of terrain and/or one or more structures, air pressure, humidity, temperature and/or particle content, the at least one other sensor coupled to the interface circuitry; characterized in that the system is configured to receive data from the at least one other sensor, and verify the integrity of the command signal using data received from one or more other sensors, and in that the system is configured to disregard a command signal that is not verified so that the one or more vehicle control signals are not generated by the second processing circuitry in response to the command signal. first processing circuitry configured to determine attitude and heading data of a vehicle using vehicle inertial data provided by one or more inertial measurement units, IMU; second processing circuitry configured to generate one or more control signals configured to control components of the vehicle which alter vehicle velocity, the control signal generated using the attitude and heading data and at least one command signal interface circuitry communicatively coupled between the first processing circuitry and the second processing circuitry, wherein the interface circuitry is configured to receive the inertial data, to provide the inertial data to the first processing circuitry, and to provide the attitude and heading data to the second processing circuitry, and wherein the interface circuitry comprises an interface to at least one of (a) at least one bus and (b) at least one network shared by the first processing circuitry and the second processing circuitry; and at least one other sensor, configured to acquire vehicle position, vehicle speed, vehicle altitude above terrain and/or one or more structures and/or vehicle heading, and/or a location of terrain and/or one or more structures, air pressure, humidity, temperature and/or particle content, the at least one other sensor coupled to the interface circuitry; characterized in that the system is configured to receive data from the at least one other sensor, and verify the integrity of the command signal using data received from one or more other sensors, and in that the system is configured to disregard a command signal that is not verified so that the one or more vehicle control signals are not generated by the second processing circuitry in response to the command signal.