The Global Positioning System (GPS) uses time-of-flight and carrier phase measurements from satellites to determine the position of a point. However, in such areas as aviation and earth moving, a vehicle's orientation is also required. Orientation of a vehicle in pitch and yaw were of interest in this project. These can be determined by measuring the offset vector between two antennas in a local-level coordinate system. Algorithms were developed for processing the data from two receivers, updating antenna vector components, and converting these to yaw and pitch angles. Carrier phase angle data was differenced between satellites so that large geometric and other errors common to both antennas reduced to the centimeter level. Simulation was performed in MATLAB and algorithms were later implemented using C code. 
 

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