A global navigation satellite system（ GNSS） attitude determination receiver is implemented using homologous RF platform

each RF circuit of the receiver is the same and is driven by the same one crystal oscillator

so each RF access has same character of signal processing. RF access can be divided into Master RF signal path and Slaver RF signal path

and master RF signal path completes acquisition and tracking task and the Slaver RF signal path deals with measurements extraction. Different from traditional independent receiver

observed quantity is output at the same time that Master RF access entering tracking state

no detection of half-cycle slips is needed

fast attitude measurements is realized. Dynamic experiment is carried out where the GNSS attitude determination receiver

Novatel receiver and the INS are mounted on a car

and experimental results show that the receiver has a better carrier measurement and output capacity

and the precision of attitude measurement is the same as commercial receiver.