To solve the problem of unstable tracking satellite signals and inaccurate navigation positioning of the spinning vehicle in the rotating state, a spinning signal model is constructed and an adaptive vector tracking loop based on M-estimation is proposed. On the basis of the traditional tracking loop, a cascade vector tracking loop based on KF+EKF is constructed. The filter is realized by coupling the observed quantities of each signal channel and the output of the tracking loop is used for the bandwidth calculation and the fault detection of the M-estimation to realize the navigation solutions. Simultaneously, the navigation results are fed back to the carrier NCO and code NCO to realize the closed-loop control. The semi physical simulation results show that the proposed vector tracking loop reduces the position error by 67.6% and the velocity error by 67.8% in three-dimensional space compared to the traditional tracking loop. This effectively enhances the stability of signal tracking and the accuracy of navigation positioning for spinning vehicle navigation modules.