Beidou or COMPASS is a Chinese GNSS(global navigation satellite system).Like the GPS receiver,the COMPASS receiver also faces the challenge of choosing an optimal bandwidth to satisfy both anti-jamming capability and dynamics adaptation simultaneously.GPS/INS(inertial navigation system)deep integrated navigation system has solved this problem by fusing GPS baseband signal and INS information in a deeply coupled mode.In this study,a COMPASS B3 frequency is considered and a traditional federated GPS/INS deep integration model is used to derive a single-filter-structure based COMPASS/INS deep integration model.Besides,a double-filter-structure based COMPASS/INS deep integration model is proposed.The simulation results show a better carrier tracking performance,especially a better dynamics adaptation.The impact of IMU errors and vehicle’s dynamics on carrier tracking performance of the double-filter-structure based COMPASS/INS deep integrated navigation system are evaluated in simulated and field environments.Simulation and field test results are in accordance with the theory analysis. Beidou or COMPASS is a Chinese GNSS (global navigation satellite system) .Like the GPS receiver, the COMPASS receiver also faces the challenge of choosing an optimal bandwidth to satisfy both anti-jamming capability and dynamics adaptation simultaneously. GPS / INS (inertial navigation system ) deep integrated navigation system has solved this problem by fusing GPS baseband signal and INS information in a deeply coupled mode. In this study, a COMPASS B3 frequency is considered and a traditional federated GPS / INS deep integration model is used to derive a single- filter-structure based COMPASS / INS deep integration model. Besides, a double-filter-structure based COMPASS / INS deep integration model is proposed. The simulation results show a better carrier tracking performance, especially a better dynamics adaptation. The impact of IMU errors and vehicle’s dynamics on carrier tracking performance of the double-filter-structure based COMPASS / INS deep integrated navigation system are evaluated in simulated and field environments. Simulation and field test results are in accordance with the theory analysis.