Wooden star detector angle measurement/distance measurement integrated navigation method based on online estimation

The invention provides an on-line estimation-based wood star detector angle measurement/distance measurement integrated navigation method, which comprises the following steps of: establishing a systemstate model according to orbital dynamics by taking the position and the speed of a detector and the position and the speed of a wood star as system state variables respectively, and obtaining starlight angular distance measurement through an angle measurement sensor; obtaining pulse arrival time measurement through an X-ray pulsar detector, establishing a starlight angular distance measurement model and a pulse arrival time measurement model according to starlight angular distance measurement and pulse arrival time measurement respectively, and estimating and correcting the position and speed of a wood star online through unscented Kalman filtering; and obtaining position and speed estimation information of the detector. According to the method, the influence of the ephemeris error of the wood star on the naviga