diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp
index cbda02ecc..88effd1b1 100644
--- a/gtsam/navigation/AHRSFactor.cpp
+++ b/gtsam/navigation/AHRSFactor.cpp
@@ -13,17 +13,12 @@
  *  @file  AHRSFactor.cpp
  *  @author Krunal Chande
  *  @author Luca Carlone
+ *  @author Frank Dellaert
  *  @date   July 2014
  **/
 
 #include <gtsam/navigation/AHRSFactor.h>
 
-/* GTSAM includes */
-#include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/linear/GaussianFactor.h>
-#include <gtsam/navigation/ImuBias.h>
-#include <gtsam/base/debug.h>
-
 /* External or standard includes */
 #include <ostream>
 
diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h
index 1b8cdc45d..9bccacb1c 100644
--- a/gtsam/navigation/AHRSFactor.h
+++ b/gtsam/navigation/AHRSFactor.h
@@ -20,12 +20,7 @@
 
 /* GTSAM includes */
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/linear/GaussianFactor.h>
 #include <gtsam/navigation/ImuBias.h>
-#include <gtsam/base/debug.h>
-
-/* External or standard includes */
-#include <ostream>
 
 namespace gtsam {
 
diff --git a/gtsam/navigation/tests/testAHRSFactor.cpp b/gtsam/navigation/tests/testAHRSFactor.cpp
index faf8dce32..284860b66 100644
--- a/gtsam/navigation/tests/testAHRSFactor.cpp
+++ b/gtsam/navigation/tests/testAHRSFactor.cpp
@@ -18,10 +18,11 @@
 #include <gtsam/navigation/AHRSFactor.h>
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/inference/Symbol.h>
-#include <gtsam/navigation/ImuBias.h>
 #include <gtsam/base/LieVector.h>
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/base/numericalDerivative.h>
+#include <gtsam/base/debug.h>
+
 #include <CppUnitLite/TestHarness.h>
 
 #include <boost/bind.hpp>
@@ -431,6 +432,7 @@ TEST (AHRSFactor, predictTest) {
 /* ************************************************************************* */
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/nonlinear/Marginals.h>
+
 TEST (AHRSFactor, graphTest) {
   // linearization point
   Rot3 x1(Rot3::RzRyRx(0, 0, 0));