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With the improvement of satellite positioning and orbit determination, high accuracy ranging system in cm level is needed to study. To the question about the existing of big random error in normal measurement and control system, this paper proposes a method that using velocity value to smooth range in order to reduce the range random error. For the calculating precision of velocity, this paper gives a tracking receiving scheme based on third order phase-locked loop, what's more, we carry on analysis and simulation about loop tracking accuracy and smoothing time. The simulation results show that the receiving scheme we proposed and the method of smoothing range using velocity can ensure the effective tracking with different dynamic target signal and can effectively reduce the pseudorange measurement random error, it can provide a solution for high precision aerospace measurement and control system.