Global Navigation Satellite Systems(GNSS) are the cornerstone and main information supplier for PNT (Positioning, Navigation and Timing ) information. With the growing interest towards autonomous vehicles, it is of great importance to guarantee the accuracy and reliability of navigation estimates provided by GNSS. Other than providing the absolute localization and timing, GNSS signals can be used to compute the orientation of a platform when multiple antennas are used. Attitude determination is the process of estimating the orientation of a rigid body with respect to its environment and it constitutes a fundamental task for the navigation of spacecraft and other vehicles of large inertia.