For the sake of steadily tracking carrier signal under high dynamic or low C/N0 (Carrier to Noise Power Ratio) environments,during various tracking loop structure of GNSS (Global Navigation Satellite System) receivers design process,the INS-aided tracking loop architecture is adopted.The performance of the tracking loop with and without INS-aided are analysed respectively and experimentally validated.The all models of error sources affecting the tracking performance of the INS-aided PLL and FLL is built and quantified.Then,based on the principle of minimizing the tracking error,an optimal adaptive bandwidth designing method is proposed.Meanwhile,the dynamic stress noise is compensated by INS completely and the relationship between the tracking performance and the INS devices quality is deduced.The results show that the tracking error for tracking weak signals is still under given threshold at small bandwidths by INS-aiding.