针对地磁场模型精度较低从而导致导航精度不高及基于轨道动力学方程的天文导航方法的局限性问题,提出了一种利用天文/地磁信息进行飞行器自主导航的方法,建立了适用于一般飞行器的动力学方程,并推导了系统的观测方程。该方法以星光与地磁矢量夹角为观测量,采用Unscenteal Kalman Filter(UKF)方法估计飞行器的位置和速度。仿真结果表明:该算法的导航精度相对于地磁导航有较明显的提高;滤波收敛性、稳定性较好;在较大观测噪声的情况下,也能够获得较稳定的滤波效果;误差不随时间而累积。建立的动力学方程能够满足飞行器机动飞行,且能保证较高的导航精度,证明该方程具有普遍的适用性。 Aiming at the limitations of low accuracy of geomagnetic field model and the limitation of celestial navigation method based on orbital dynamics equations, a method of autonomous navigation using astronomy / geomagnetic information is proposed, and a method suitable for general aircraft The kinetic equations were derived and the observed equations of the system were deduced. The method takes the angle between stellar and geomagnetic vector as observation, and uses Unscenteal Kalman Filter (UKF) method to estimate the position and velocity of the aircraft. The simulation results show that the navigation accuracy of the algorithm is obviously improved compared with that of geomagnetic navigation, the filtering convergence and stability are good, and the filtering effect is stable under the condition of large observation noise. The error does not vary with time accumulation. The established kinetic equation can meet the maneuvering flight of the aircraft and can guarantee a high navigation precision, which proves the universal applicability of the equation.