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X-ray pulsar-based navigation (XNAV) using one X-ray detector is investigated as an augmentation to the capability of an ultraviolet (UV) sensor-based satellite autonomous navigation system. The satellite state dynamics are analyzed to establish the dynamical equations of the satellite autonomous navigation system. A time transformation equation that accounts for relativistic effects is presented and the measurement model of the XNAV system is derived using pulse phase information from only one pulsar. The measurement model of the UV sensor-based satellite navigation system is presented using the Earth image information from the UV sensor. In order to integrate the measurements from the X-ray sensor and the UV sensor, a federated filter is developed to provide the optimal simultaneous estimation of position and velocity of the satellite. The concept is demonstrated on a GPS orbit and a geosynchronous orbit and it is found that the performance of the integrated satellite navigation system is improved with respect to that of the UV sensor-based satellite navigation system.