Abstract: In order to implement"Single Pulsar for Automatic Navigation"project,a novel pulsar/CNS integrated navigation method is presented.In this method,the difference between the measured pulse TOA(time-of-arrival) and the predicted pulse TOA and the starlight angular distance are used as measurements.UKF(unscented Kalman filter) based on the augmented state method is adopted to eliminate the effect of bias in the predicted TOA,and the highly accurate position information for satellite is obtained.The simulation results show that the position estimation accuracy is about 114 m(1σ),and the velocity estimation accuracy is about 0.113 m/s(1σ).From the observability analysis,it can be seen that this navigation system has a completely observability and a high degree of observability.