This paper deals with control features for precision gimballed attitude and heading reference systems. Two modes of the considered systems have been researched, including precise leveling and gyro compassing. The models of errors grounded on models of dynamically tuned gyroscopes carrying out functions of the vertical and directional gyroscopeі are represented. Features of controls of leveling and gyro compassing are described in detail. The structural diagrams of control loops for both above-mentioned modes are represented. The transfer functions of control loops in leveling and gyro-compassing modes are represented. Types of control and expression for control moments are given. The errors of stabilization have been simulated. Transient processes of pitch, roll, and azimuth are shown. Logarithmic amplitude-frequency characteristics of control loops in leveling and gyro-compassing modes are represented. The obtained results can be useful for inertial navigation systems of the wide class.