  A model of carrier phase measurement (as carried out by a satellite
navigation receiver) is formulated based on electromagnetic theory. The model
shows that the phase of the open-circuit voltage induced in the receiver
antenna with respect to a local oscillator (in the receiver) depends on the
relative orientation of the receiving and transmitting antennas. The model
shows that using a {\it single} receiving antenna, and making carrier phase
measurements to seven satellites, the 3-axis attitude of a user platform (in
addition to its position and time) can be computed relative to an initial
point. This measurement model can also be used to create high-fidelity
satellite signal simulators that take into account the effect of platform
rotation as well as translation.
