Abstract: This paper is on carrier heading determination with GPS attitude determination (equipment) and TPSs. Time synchronization equipment for GPS and TPSs is designed with the help of GPS PPS. Linear interpolation and filtering methods for static data and cubic interpolation and filtering methods for dynamic data are applied. The precision error of the combination model of GPS and TPSs is analyzed. Experimental results show that the heading precision is 30″ in static condition, while 2′ in dynamic condition. The model can help the vessel correct the zero error of navigation devices, reduce the time to prepare to sail, and can conduct the vessel to make harbour.