Inertial and celestial combined navigation method based on star coordinate modeling

The invention provides an inertial and celestial combined navigation method based on star coordinate modeling. With the method, according to the difference in observed number of stars, inertial and celestial combination during multi-star observation is automatically realized, and star starlight measurement information application flexibility is improved. When star configurations are substantially deteriorated, characteristics of observation noises inputted into a Kalman filter are maintained stable, such that navigation performance under a situation with substantially reduced available navigation star number during high dynamic flight is improved. Compared with conventional inertial and celestial combined systems without the technology provided by the invention, the method provided by the invention has better adaptability to situation with deteriorated star configurations. Therefore, the method provided by the invention is suitable for engineering applications.