diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h
index aca42b99b..e44073338 100644
--- a/gtsam/navigation/AHRSFactor.h
+++ b/gtsam/navigation/AHRSFactor.h
@@ -117,7 +117,6 @@ public:
       if (body_P_sensor) {
         Matrix3 body_R_sensor = body_P_sensor->rotation().matrix();
         correctedOmega = body_R_sensor * correctedOmega; // rotation rate vector in the body frame
-        Matrix3 body_omega_body_cross = skewSymmetric(correctedOmega);
         // linear acceleration vector in the body frame
       }
       const Vector3 theta_incr = correctedOmega * deltaT; // rotation vector describing rotation increment computed from the current rotation rate measurement