为实现对高动态和低载噪比信号的稳定跟踪,在全球导航卫星系统(Global Navigation Satellite System,GNSS)接收机的跟踪环路设计中采用惯性导航系统(Inertial Navigation System,INS)辅助锁相环(Phase Lock Loop,PLL)的环路结构。对INS辅助环路的各误差源进行了建模与分析,并分析了惯性器件精度对跟踪误差的影响。基于跟踪误差最小的原则设计了最优环路带宽,根据载波信号的载噪比和环路动态实时自适应地调整PLL带宽,使环路始终工作在最小误差状态。结果表明:所设计INS辅助的自适应带宽调节方法能有效减小环路跟踪误差,并提高复杂环境下信号的跟踪精度。 In order to realize stable tracking of high dynamic and signal with low carrier-to-noise ratio, the Inertial Navigation System (INS) is used in the tracking loop design of GNSS receiver to assist the phase-locked Loop structure of the Phase Lock Loop (PLL). The error sources of INS auxiliary loop are modeled and analyzed, and the influence of inertial device accuracy on tracking error is analyzed. The optimal loop bandwidth is designed based on the principle of minimum tracking error. The PLL bandwidth is adaptively adjusted according to the carrier-to-noise ratio and loop dynamics of the carrier signal so that the loop always operates in the minimum error state. The results show that the adaptive bandwidth adjustment method designed by INS can effectively reduce the loop tracking error and improve the signal tracking accuracy under complicated environment.