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Satellite navigation systems are now widely used for a variety of technical problems, including extracting information from phase of the received signals [1, 2]. One such application is to determine the object orientation angles from the satellite radio navigation system signals received at spaced-apart points [3, 4]. The approach is based on the fact that the signals coming from the navigation satellite in two spaced-apart points have a phase shift that depends on the angle between the base line connecting the two receiving points and the direction of arrival of the navigation satellite signal. By measuring this angle and knowing the direction on the navigation satellite, it is possible to determine the angle of orientation of the base line. To implement this approach, the navigation receivers are placed at the receiving points, and they measure phases of received navigation signals. Further, the phase difference is formed which carries information about the angle between the base line and the direction of arrival of the navigation satellite signal. The main problem is that the measured phase difference differs from the true phase difference (that is proportional to the difference of arrival times of signal phase front at the receiving points) by an integer number of periods of high-frequency radiation. That is, there is an ambiguity of phase measurement. To resolve this problem various algorithms of phase measurement were proposed [5–18]. The described methodology for determining the orientation angles using signals of satellite navigation systems is based on the principle of two-stage processing of signals from navigation satellites [12]. Parameters of received radio signals (delay, phase, Doppler frequency shift) are estimated in the first stage. Coordinates, velocity and orientation angles of an object are estimated in the second stage. A one-stage algorithm for determining of object orientation angles using navigation satellites signals was proposed. In this algorithm, the intermediate stage for the formation of estimations of pseudorange and pseudophases is omitted. Estimations of the

Synthesis of Integrated One-stage Tracking Algorithm for GNSS and INS Based Attitude Estimation