The invention relates to a federated filtering-based vector tracking method. The method includes the following steps that: carrier NCO and code NCO parameters are calculated through using the position, speed, clock difference, clock drift and satellite ephemeris of a receiver; with the output of a carrier frequency discriminator corresponding to each channel and the output of a code-loop descriminator corresponding to each channel adopted as the measurement information of a subfilter of the corresponding channel, the pseudo-range error and pseudo-range rate error of the corresponding channel of the receiver can be estimated, and the state quantity of the sub-filter is inputted to a navigation main filter so as to be adopted as the measurement information of the main filter; and the navigation main filter receives the state quantity of the sub-filter and adopts the state quantity as the measurement information so as to use the measurement information to estimate the position, speed, clock difference and clock drift error of the receiver, and estimated error information is adopted to update the position, speed, clock difference and clock drift of the receiver. The federated filtering-based vector tracking method of the invention has high navigation precision, excellent tracking performance, instantaneous signal bridging ability and high fault-tolerant capability. The federated filtering-based vector tracking method can improve the robustness of a system under a condition that calculation amount is not increased.