Mars probe after brake automatically enters around a large oval orbit, requires the ability to independently determine the position of the detector, speed navigation information. A new autonomous navigation method based on landmarks measurements and X-ray pulsar measurements was proposed. Aimed at the elliptical orbit when brake passing through atmosphere, the landmarks-based navigation was used at perigee and X-ray pulsar-based navigation was used at apogee. According to the principle and measurement of pulsars and landmarks navigation, the extended Kalman filter(EKF) was designed to get the navigation information. Under the existing navigation sensor level, the integrated navigation system can get near the perigee 100 m, 1 km far from the apogee of the navigation accuracy. Simulation results show that this method was a promising and attractive scheme for autonomous navigation of Mars circle satellites.