title: Calculating yaw/pitch/roll
body: <p>I have three GPS antennae on a boat. They are in fixed xyz positions relative to each other. </p>
  
  <p>For example:</p>
  
  <ul>
  <li>Ant1 at (0,0,0)</li>
  <li>Ant2 at (0,5,0)</li>
  <li>Ant3 at (5,2,0)</li>
  </ul>
  
  <p>I want to make a program that will calculate the yaw, pitch and roll as the boat travels. I will have a record of the xyz position for each of the three antennae every second. It will be ascii format in the form:</p>
  
  <pre><code>Ant 1 , time in hrsminsec  , lat in degminsec , long degminsec , z in metres 
  </code></pre>
  
  <p>For example:</p>
  
  <pre><code>235316, LA53.1729289341999986,LN-6.2148456192000000,EL163.7457
  </code></pre>
  
  <p>Ditto for ant2 and ant3.</p>