In this work, we report the in-orbit demonstration of X-ray pulsar navigation with Insight-Hard X-ray Modulation Telescope (Insight-HXMT), which was launched on Jun. 15th, 2017. The new pulsar navigation method Significance Enhancement of Pulse-profile with Orbit-dynamics (SEPO) is adopted to determine the orbit with observations of only one pulsar. In this test, the Crab pulsar is chosen and observed by Insight-HXMT from Aug. 31th to Sept. 5th in 2017. Using the 5-day-long observation data, the orbit of Insight-HXMT is determined successfully with the three telescopes onboard - High Energy X-ray Telescope (HE), Medium Energy X-ray Telescope (ME) and Low Energy X-ray Telescope (LE) - respectively. Combining all the data, the position and velocity of the Insight-HXMT are pinpointed to within 10 km (3 sigma) and 10 m/s (3 sigma), respectively.
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