A method for tracking satellite with multiple-frequencies includes setting a first tracking frequency, tracking a satellite with the first tracking frequency to obtain a first tracking result at a first time point, estimating a second tracking frequency at a second time point according to the first tracking result at the first time point, adjusting the second tracking frequency in a predetermined range to obtain preparatory frequencies, tracking the satellite with the preparatory frequencies to obtain second tracking results, and reviewing strength of received signal of each second tracking result to select the strongest one, and setting the preparatory frequency used to obtain the strongest received signal as a determined tracking frequency to be used to form the communication between a global positioning system (GPS) device and the satellite, repeating the above steps, thereby maintaining the communication with a best tracking frequency between the GPS device and the satellite.