The autonomous orbit determination of low earth orbit (LEO) satellite using BeiDou navigation signal is presented. Firstly, the satellite dynamic model with perturbations is derived with J2 perturbation of the earth. The 4th order Runge-Kutta numerical integration is used for orbit propagation. The pseudorange and pseudorange rate equations are selected as the observation model. Then, the number of visible BeiDou satellite is analyzed. Finally, the SRUKF algorithm is used to determine the position and velocity of CHAMP satellite owing to the nonlinearity of orbit dynamic and measurement model. The orbit determination performances of SRUKF, UKF and EKF are compared via Monte Carlo simulations by using the simulated data from STK8.1. Simulation results indicate that the number of the visible BeiDou navigation satellite can reach at least 18, fully meet the needs of orbit determination. SRUKF has higher orbit determination precision than the UKF and EKF, and the position estimation error of SRUKF, compared with UKF and EKF, is reduced by 69.42%and 92.08%, respectively.%利用北斗卫星导航信号对低轨卫星自主定轨进行了研究。首先对卫星轨道动力学方程进行了推导，建立一个考虑地球J2摄动下的卫星动力学模型，并利用4阶龙格-库塔数值积分法进行轨道传播。选用北斗卫星导航信号的伪距和伪距率作为定轨的测量方程。然后，对北斗卫星可见星的个数进行了分析。最后，采用SRUKF算法对低轨CHAMP卫星轨道状态进行估计，并通过STK8.1生成仿真数据对SRUKF、UKF和EKF算法的跟踪性能进行对比分析。仿真结果表明，在跟踪过程中最少能接收到18颗北斗卫星信号，能够满足定轨要求。在相同条件下，SRUKF算法的跟踪精度优于UKF、EKF算法，SRUKF算法能减少89%的位置误差和90%的速度误差。
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