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Current research for multiple antenna GPS attitude determination is focused on obtaining high accuracy attitude using low cost receivers and low cost antennas. Measurements from low cost sensors typically suffer from factors such as increased measurement noise, multipath, antenna phase center variation and cycle slips. This paper describes the rapid development of a low cost attitude determination system for use on an Unmanned Aerial Vehicle (UAV) that will be used as in input for georeferencing an on-board camera. The filter was developed using a plug-and-play filter design that allows combinations of measurements and states to be easily implemented in an Extended Kalman Filter. Using such an approach has the significant advantage for integrated systems where, for example, attitude measurements can also be used as measurement updates to aid inertial navigation systems (INS) in a tight coupled …