In order to solve the problems of complex tracking loop structure of traditional GPS receivers, and poor tracking performance in the environment of low Signal-to-Noise Ratio (SNR) and high dynamic, a new GPS signal tracking algorithm based on phase slope stripe detection is proposed, in which the pseudo-code delay can be accurately estimated by the Frequency domain phase of Time Difference Of Arrival (TDOA), and the carrier Doppler frequency offset can be accurately estimated by the Time domain phase of Frequency Difference Of Arrival (FDOA).The loop structure is simplified and the tracking accuracy is improved, compared with the traditional method, the code phase measurement accuracy is improved by 60% and the carrier Doppler measurement accuracy is improved by 31% when the SCNR is 32 dB-Hz. In addition, accurate tracking can be achieved in high dynamic environment, which has research significance for improving the performance of GPS receiver.