This paper initially reviews types of deep space navigation methods. Then, it studies the use of pulsars as one of sources emitting electromagnetic waves in navigation; hence more details regarding the pulsar physics and the history of navigation using pulsars are presented. The various methods of navigation (including radio method), their advantages and disadvantages-in comparison with navigation using pulsars in spacecraft-are discussed. Then, the equations necessary for calculating position and velocity of a spacecraft (such as the arrival time of pulse from pulsar to the receiver) are introduced, and the methods of calculating position and velocity are dealt with. Finally, two algorithms are presented for positioning, and one for velocity. Attitude determination follows the same simple methods presented in various articles.