High nitrogen content dendritic polyaniline, long fibrous polyaniline, dendritic polyaniline/graphene and long fibrous polyaniline/nitrogen-doped graphene aerogels are employed as precursors to produce nitrogen-doped continuous nanocarbons through direct carbonization. The corresponding nanocarbons are denoted as PDC, PFC, PGC and PNGC, respectively. The microstructure, composition, and electrochemical properties of polyaniline-based aerogels derived nanocarbons have been systematically investigated. The results show that PDC, PFC, PGC and PNGC have continuous hierarchical porous structure, high specific surface area of 273.9, 487.7, 241.4 and 295.9 m2 g-1, respectively, high nitrogen content of 7.82, 9.62, 7.91 and 10.17 at.%, respectively and high specific gravimetric capacitance of 268, 311, 280 and 362 F g-1 at the current density of 0.5 A g-1, respectively, as well as excellent rate capability and cycle stability.