The invention discloses a GNSS attitude real-time measurement device and measurement method based on three antennas, and belongs to the technical field of measurement and surveying and mapping. A three-antenna GNSS receiver structure is adopted, and an azimuth angle, a pitch angle and a roll angle of a plane where the antennas are located are obtained by measuring carrier phase difference values of GNSS satellite signals received by the three antennas; due to the fact that satellite signals are updated and resolved in real time, the problem of error accumulation does not exist, high-precisionreal-time attitude measurement can be achieved, and positioning and attitude measurement are integrated. The three antennas can be placed at will without being limited by geometrical shapes of the antennas, and compared with a single-point positioning attitude measurement system and other attitude measurement systems, the precision is high, and the real-time performance is good; compared with a double-antenna RTK receiver, a three-dimensional attitude angle can be obtained; and according to the invention, GNSS signals are used for position, baseline and attitude calculation, and the system canautomatically calculate the azimuth angle, the pitch angle and the roll angle.