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Directly sensing stellar and horizon is simply and reliable based on the star sensor and earth sensor. The navigation precision is lower depended on earth sensor mainly. Indirect sensing horizon gets horizon information by observing atmosphere refraction stellar using star sensor. Because the number of refraction stellar and observing time are limited, the observed information is discontinuity. The paper presents a new information fusion method of autonomous navigation algorithm by importing earth's magnetic information. The integrated navigation method and algorithm are designed and simulating. The results of computer simulation show that the proposed system can improve the navigation precision and robustness. [ABSTRACT FROM AUTHOR]