The invention provides a method for obtaining a self-adaptive
vector tracking loop. The method includes the following steps of firstly, initiating
vector tracking parameters; secondly, sending intermediate-frequency signals into a
noise estimating channel, and estimating
noise power; thirdly, sending the intermediate-frequency signals into a tracking channel, and conducting relevant calculating; fourthly, estimating the carrier-to-
noise ratio to adjust the measuring noise matrix of a
channel filter; fifthly, estimating a carrier frequency error
delta fi, a code
phase error delta ti and other parameters with the relevant result as the measuring information of the
channel filter; sixthly, conducting ratio converting on the
delta fi and the delta ti to obtain a pseudo range error delta pi anda pseudo range rate error delta pi' to be sent into a navigation filter, and estimating a position modification amount delta p and a speed modification amount
delta v; seventhly, calculating a code phase modification value delta ti' and a carrier frequency modification value delta fi', and feeding back the code phase modification value and the carrier frequency modification value to a carrier
numerical control oscillator (NCO) and a code
numerical control oscillator (NCO). The stable tracking of navigation signals under high-dynamic strong-interference conditions is realized; in addition, byorganizing information of all channels into one measuring vector, the combined tracking of different
satellite signals is realized.