In order to improve GNSS j amming immunity under the complex electromagnetic environment,an INS-aided GNSS adaptive vector tracking was proposed.According to the measurement performance indicator, tracking loop lock and satellite signal SNR,scalar tracking loops and vector tracking loops wwere switched a-daptively to meet the navigation accuracy under interference environments.And the design methods of pre-process filter,integrated navigation filter and high dynamic scalar tracking loop were presented.Dynamic simu-lation test showed that the ultra-tight coupling based on INS-aided vector loop could track carrier-to-noise 15dB-Hz GPS L1 C/A signal,and the J/S level was 12 dB bigger than stand-alone receiver.%针对复杂电磁环境下卫星导航接收机抗干扰能力不足的问题，提出了低成本 INS自适应辅助 GNSS矢量跟踪方法。该方法根据观测量性能指示器、跟踪环路锁定情况和卫星信号信噪比等，自适应切换高动态标量跟踪环路和 INS辅助矢量跟踪环路，实现低干扰环境下的高精度导航和中等干扰环境下满足导航精度情况下的最大导航能力。同时，给出了预处理滤波器、组合导航滤波器和高动态标量跟踪环路的具体设计方法。动态仿真试验结果表明，在高动态干扰环境下基于本算法的接收机可跟踪载噪比为15 dB-Hz 的 GPS L1 C/A卫星信号，比传统独立式高动态接收机的抗干扰能力提高了约12 dB。
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