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In low-cost Attitude Heading Reference Systems (AHRS), the measurements made by Micro Electro-Mechanical Systems (MEMS) type sensors are affected by uncertainties, noises and unknown disturbances. In this paper, considering the robustness of sliding mode observers against structured and unstructured uncertainties, and also exogenous inputs, the process of design and implementation of a sliding mode observer (SMO) is proposed based on a linearized model of the AHRS. To decrease the chatteringdoi:10.4236/pos.2013.43022 fatcat:a4v2mbbjcbhvfa7ian45azm35e