Celestial navigation is one kind of autonomous navigation technology which is suitable for navigation of deep space rovers. Autonomous navigation technology based on X-ray pulsars is under development. It could provide an essential backup navigation capability for missions that normally rely on GPS but have a need for continuity of operations in the event of loss or denial of GPS. Radiation from X-ray pulsars is relatively easy to be detected and recognized. X-ray pulsars provide with the potential to define a new time scale and frequency standard, they are nature reference constellation for deep space navigation. This paper introduces the principle of navigation based on X-ray pulsar timing. We also discuss the prospect of navigation application using China radio telescopes.