An attitude determination system provided with North-finding capability, comprises: a) a stage consisting of a rotating platform provided with a high precision positioning controller; b) an Inertial Navigation System (INS) comprising inertial sensors, wherein said inertial sensors comprise gyroscopes and accelerometers, and wherein at least one gyroscope is of a precision suitable to find the direction of true North; and, c) a control unit for controlling input signals and output signals of the stage and the INS and combining the signals in order to provide attitude data of the system.