The present invention discloses a joint non-coherent integral vector tracking method based on a spatial domain, which is used for further improving the performance of a vector tracking GPS (Global Positioning System) receiver. In a new vector tracking strategy design, a phase discriminator/a frequency discriminator in a traditional vector tracking loop is discarded, and baseband signals of visible satellites in each channel are taken as an observation value after performing non-coherent integration, and EKF (abbreviation of Extended Kalman Filter) is used to estimate directly and to solve the position, the velocity, a clock error, etc. of the GPS receiver. Because of the existence of non-coherent integral calculation, when GPS satellite signals are relatively weak, a carrier to noise ratio of an observation value may be effectively improved, and the tracking sensitivity is improved.