矢量跟踪是研究深组合的关键技术之一。传统的接收机跟踪环路采用标量跟踪模式, 该模式在高动态环境下易产生信号失锁, 且在弱信号环境下易受电磁干扰; 而集中式深组合虽使用了矢量跟踪算法, 但由于模型中观测量与状态量呈高度非线性关系, 所以难以付诸于工程实践。针对上述情况, 设计了一种适用于级联式深组合的矢量跟踪算法, 该算法通过分析各跟踪误差与鉴别器输出之间的关系, 搭建了预滤波器动态模型。仿真结果表明：高动态环境下, 相较于标量跟踪算法, 基于预滤波器的矢量跟踪算法具有更好的码相位和载波频率跟踪性能。

Vector tracking is one of the key technologies in deep integration research.The traditional receiver tracking loop uses scalar tracking mode, under which the receiver loses satellite signals easily in high dynamic environment and suffers electromagnetic interference easily in weak signal environment.Centralized deep integration uses vector tracking algorithm.However, it is difficult to realize in engineering applications due to the highly nonlinear relationship between the measurements and state variables.Considering the above situation, a method of vector tracking algorithm suitable for cascaded deep integration is proposed.By analyzing the relationship between each tracking error and the discriminator output, a prefilter dynamic model is built up.The simulation results show that, compared with scalar tracking algorithm, the vector tracking algorithm based on prefilter has better tracking performance of code and carrier frequency in high dynamic environment.