The first step in determining attitude using GPS signals is to account for the integer phase difference between receivers that is not measured by them. There are several methods for accomplishing this. The first method is motion-based resolution. Based on the change in phase between receivers over several seconds to several minutes, depending on the rate of change of the satellite’s attitude, the integer phase difference is determined and tracked by the attitude determination software. Although fairly computationally efficient, it requires an initialization period every time the attitude determination and control system (ADCS) module is shut down and additional code to track and adjust the integer phase difference as the satellite moves (Global Positioning System: Theory and Applications Volume II).