Abstract: The concept of stellar horizon atmospheric refraction is considered to be one of the most promising concepts for satellite autonomous navigation. However, the precision of the method is limited due to the uncertainty of the stellar horizon atmospheric refraction model. According to the rule that atmospheric density would vary with altitude, latitude, season and so on, the fixed altitude measurement model (25km) can be availably modified. Consequently, the navigation precision and dependability can be effectively improved. By thoroughly studying on the principle of the atmospheric refraction, the stratospheric atmosphere data, the atmospheric model and other factors related to the precision of the measurement model, a self-adapted continuous altitude (20~50km) measurement model was established, and then the system model with the orbit perturbation was established as well. Finally, a simulation experiment was performed by using the Unscented Kalman Filter programme, and an error analysis was achieved.