GPS Attitude Determination Using Nonaligned Antennas

A method of determining the attitude of a vehicle equipped with a Global Positioning System (GPS) receiver with multiple nonaligned antennas has been invented. As used here, “nonaligned antennas” does not signify antennas that lack alignment; rather, it signifies antennas that generally point in different directions (in contradistinction to antennas oriented identically as in prior methods). The method is applicable to a land vehicle, aircraft, spacecraft, ship, or almost any other vehicle.