Under high dynamic situation, the typical GPS carrier tracking loop can not guarantee a reliable tracking. In this paper an improved high dynamic carrier tracking method based on unscented Kalman filter is presented, a rapid frequency traction method is adopted to ensure that the filter can convergence quickly, and joining a carrier amplitude estimation method. The U.S Jet Propulsion Laboratory high dynamic carrier model is used to test the loop tracking performance, the test results show that the method can not only pull-in and lock the carrier signal quickly in a high dynamic environment, but under the the jerk of up to 100g/s which also have a continous and precise tracking performance.