A method to determine roll angle, pitch angle, and heading angle of a spinning projectile during a flight of the spinning projectile is provided. The method includes providing a magnetic unit vector in an inertial frame of the projectile at a projectile launch location prior to launch of the projectile; determining a magnetic unit vector in a body frame and in an inertial frame of the spinning projectile during the flight of the spinning projectile; determining a velocity unit vector in the body frame and in the inertial frame of the spinning projectile during the flight of the spinning projectile; and calculating the roll angle, the pitch angle, and the heading angle of the spinning projectile during the flight of the spinning projectile, regardless of the spin rate of the projectile. The roll angle and the pitch angle of the spinning projectile form an attitude of the spinning projectile.
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