Traditional autonomous celestial navigation usually uses astronomical angle as measurement, which is a function of spacecraft’s position and can’t resolve the spacecraft’s velocity directly. To solve this problem, velocity measurement by stellar spectra shift is proposed in this paper. The autonomous celestial integrated navigation method is derived by combining velocity measurement with angle measurement, which can ensure the long-term high accuracy, real-time and continuous navigation performance for deep space exploration (DSE) missions. The observability of the integrated navigation system is analyzed. Moreover, the design of doppler navigator and hardware in-the-loop simulation system are described. Finally, a simulation example is employed to demonstration the feasibility and effectiveness of the proposed navigation algorithm.

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