The invention discloses a
vector tracking-based GNSS / SINS deep integrated navigation method. The method includes the following steps that: after in-phase orthogonal signals outputted by a correlator are calculated by a
phase discrimination function, an obtained
phase discrimination result is adopted as measurement information of a pre-filter, so that a pre-
filter model can be constructed to estimate
tracking error information, and therefore, the pseudo-range and pseudo-range rate of a GNSS tracking channel can be obtained; an integrated navigation main filter performs
processing according to the pseudo-ranges and pseudo-range rates outputted by the GNSS tracking channel and an SINS, so that pseudo-range deviation and range rate deviation can be obtained and are adopted as measurement variables quantity, and the measurement quantity is used for updating
navigation error state variables, and updated
navigation error parameters are fed back to the SINS, so that the navigation parameters of the SINS can be calibrated; and an integrated
navigation system infers the
signal tracking parameters of a GNSS according to the calibrated SINS navigation parameters and
ephemeris information so as to control the local pseudo codes of a
receiver and a carrier digital-controlled oscillator, and therefore, tracking for input signals can be maintained. The method of the invention has excellent anti-jamming performance and dynamic tracking ability, and has a bright application prospect.