In order to realize autonomous and continuous navigation information outputs for high elliptical orbit(HEO) satellite, new integrated navigation system is proposed based on celestial navigation of directly sensing stellar and global positioning system(GPS) navigation. Firstly, satellite orbit motion model is established on the satellite orbit dynamics J₂ model and suffered space perturbation. Moreover, performances of single-use celestial navigation or GPS are analyzed. When the satellite is near the apogee, observation system is established by using only celestial navigation. When the satellite is near the perigee, the estimate covariance is revised through incoming GPS signal to improve the celestial navigation estimate. The autonomous navigation system is designed and simulating. The results of computer simulation show that the navigation accuracy is improved by 72.4%∼85.6% compared with the celestial navigation method.