Abstract: In order to investigate the applications of the signals based on the spread-spectrum minimum shift keying (MSK) modulation for satellite navigation systems, the general mathematical model of the MSK modulated signals was established and the biased tracking for the minimum shift keying-binary offset carrier (MSK-BOC) signals was demonstrated. Then, a novel algorithm was proposed to remove the threat of potentially giving biased measurements of MSK-BOC(n,n) signals. The performance in terms of tracking accuracy was theoretically analyzed and the architecture of the code tracking loop in accordance with this algorithm was presented. The results indicate that this unambiguous tracking algorithm can reduce the complexity of the required hardware and software blocks and have an acceptable tracking performance.