n this paper a specialized GNSS attitude determination receiver is implemented using homologous RF platform,the receiver uses identical RF circuits which are driven by the same one crystal oscillator,so it has a better correlation between different signal paths.Receiver baseband signal processing is divided into Master RFsignalpath and Slaver RFsignalpath.The Master RFsignalpathcompletes acquisition and trackingtask and the Slaver RFsignalpath deals withmeasurements extraction.Different from the traditionalindependentreceiver,carrier phase measurementsare extractedindependently from the Master signal path.Soa unique filter could be used to smoothobserved measurements in order to enhancethe overallperformance and output higheraccuracycarrierphase measurements.Higher accuracy ofcarrier phasemeasurement will improve the possibility of the success ofambiguity search.Thereforeattitudedetermination receiverhas a higherprocessing performance.Meanwhile the receiver’s measurement extraction accuracyis independent fromthe Master RFsignalpath,so it can be measuredat the time that the Master RFsignalpathentering thetrackingstate and the receiver can output measurementsas short as possible.When integratedwith theINS,attitude determination receivernot only providesposition,velocity,but also outputs attitude information.Moreover,INSprovidesreferenceattitude informationto assist determiningcarrierambiguity,so attitude determination receiverhas a better performance in the robustness in harsh environments.Dynamic experiment is carried out where the GNSS attitude determination receiver and the INS are mounted on a car.The navigationresults show that the receiver has a better carrier phase output capacity,and provides more information in the subsequent attitude determination.