Abstract: To address issues such as strong dependence on ground-based measurement and control in high-precision navigation of spacecraft in cislunar space, a high-precision navigation approach integratings X-ray pulsar and Queqiao constellation information. By coupling the X-ray pulsar observation data with the spacecraft ranging information provided by Queqiao Communication-Navigation-Remote Sensing constellation and incorporating cislunar orbital dynamics models, a joint navigation observation model of the Queqiao constellation and pulsars was constructed, and the navigation accuracy of the circumlunar orbit and the Earth-Moon L1 libration point Halo orbit was analyzed. Simulation results demonstrate that improvements of 90.11% and 88.73% in position accuracy for the two orbits have been achieved with the accuracy increasing from 1.73 km and 2.10 km to 187 m and 236 m compared with traditional X-ray pulsar navigation (XPNAV). The joint navigation method proposed in this paper can significantly enhance the navigation and positioning performance, and provide theoretical reference and technical support for navigation applications in tasks such as cislunar space resource exploitation.