The existing attitude determination algorithm cannot solve the problem that the algorithm got no solution when GPS signal was disturbed. The algorithm would be influenced by the gross error in GPS data. According to the problems mentioned above, this paper put forward a kind of carrier attitude measurement method based on robust adaptive extended Kalman filter (RAEKF) and DGPS. First introduced the principle of carrier phase differential GPS attitude measurement, then analyzed the three kinds of attitude determination algorithms existing and pointed out their weaknesses. Finally, we put forward a robust adaptive Kalman filter algorithm which is not affected by missing and gross error of GPS data. As the experiments show, the algorithm can improve the accuracy and reliability of the GPS by using the motion data of carrier.