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A novel attitude determination model is proposed to improve the precision and realization of multi-antenna GPS/SINS integrated system. Attitude measurement equation based on baseline vector is established by using loosely coupled GPS/SINS system and GPS carrier phase high-precision relative positioning. According which a more accurate and accessible model of GPS/SINS attitude determination is proposed. The ability of attitude determination for the model is tested and compared with the traditional model by flying a trace in numerical simulation. The results show that the proposed model of attitude determination improves the precision and convergence obviously. The precision of yaw angle and pitch angle can be 0.02° and the roll angle can be 0.1°. This model can offer reference value for aerocrafts’ high-accuracy integrated attitude determination.