Abstract: The paper proposed a method based on time-differenced carrier phase and strapdown inertial navigation system(SINS) in autonomous navigation.The SINS worked only when the spacecraft maneuvered.In this study,the error factors in the carrier phase observation were analysed.We established the the nonlinear model of integrated navigation by SRUKF and studied cycle slip detection and repair strategies.Our findings indicated that the proposed navigation method avoided the solution of ambiguity and the impact of cycle slips,which made the navigation system with high precision and reliability.