The invention belongs to the technical field of navigation and positioning, and provides a method and device for calculating an attitude angle using signal receivers. The method includes the steps of S10, establishing an attitude angle model for a target to be positioned using at least four signal receivers; S20, establishing a first double differential model between the signal receivers and a predetermined number of signal transmitters, and calculating an attitude angle of the target to be positioned at a random moment; S30, establishing a second double differential model of the signal receivers under continuous time points, and calculating a relative amount of change in the attitude angle when the target to be positioned changes in displacement; and S40, acquiring the attitude angle of the target to be positioned that meets preset conditions. According to the invention, the attitude angle of the target to be positioned can be accurately acquired without using an inertia measurement combination system, and the cases in which serious deviation occurs in a location-based service due to the occurrence of system failure, instrument failure or intolerable errors and so on are avoided.