Tracking performance of traditional Global Positioning System (GPS) receiver in high dynamic environment is not ideal, a kind of GPS signal tracking algorithm based on carrier frequency assist phase was proposed to improve it. The traditional single tracking loop was replaced by frequency lock loop assisting phase lock loop, and intermediate-frequency signals in all tracking channel of receiver were processed using Kalman filter. According to many tracking channel pseudorange and pseudorange rate residual, comprehensive estimation for system state parameters was given. The system state equation and measurement equation of the Kalman filter were created and the tracking loop feedback was given. Tracking performance of the traditional scalar tracking mode was compared with that of the proposed method. The simulation results show that the GPS signal tracking algorithm based on carrier frequency assist phase gets into the steady state with 100 ms decreasing, the precision of position error is improved by 5 m, and the precision of velocity error is improved about 3 m/s. In the fast moving environment of receiver user, it can better handle the high dynamic signal.