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In order to reduce the impact of clock drift and pulsar direction error on the autonomous navigation system, a method of pulsar navigation considering clock error correction and a direction error is proposed. X-ray pulsar navigation is measured by pulse arrival time, sets the clock error and the system deviation caused by the direction error of the on-board clock as the augmented state to form the state variable, establishes the navigation system, and uses unscented kalman filter (UKF) controls navigation information. The simulation results show that this method can suppress the influence of azimuth deviation on navigation, control the clock error of satellite, and provide higher navigation estimation accuracy.