Abstract: To validate the navigation ability for high orbit spacecraft by side-lobe echo of GNSS, GPS receiver was fitted to the Chang'e-5 test vehicle. However, the system has not obtained an anticipant stationary position results. Therefore, a real-time navigation algorithm for lunar probe by satellite-borne GPS is suggested. The algorithm is developed by several UKF filter design according to different dynamic characters of the reentry test orbit. Adaptive technique is also introduced for filter switching and parameter selection. After the analysis of satellite-borne GPS, actual data from the circumlunar return of Chang'e-5 test vehicle is utilized for validating the feasibility and effectiveness of the algorithm.