Accurate and reliable positioning is a fundamental necessity in today's modern world. While satellite navigation systems have found wide application in various fields, they are extremely vulnerable and are becoming unavailable. Therefore, the existence of a reliable, continuous and accurate navigation system as an alternative seems essential. By combining the principles of astronomical navigation with advanced computational tools, this approach extends beyond theoretical models to real-time applications and provides a suitable method for positioning, especially in situations where satellite navigation is not available. In this study, while examining various previous methods, a suitable algorithm that can be implemented on various available platforms is presented, in which the position can be estimated using the position of the sun, accurate time, and a model of the Earth's movement around the sun. The positioning accuracy in this method is strongly affected by the error in measuring solar angles, and for this reason, positioning based on a single solar observation usually has a large error of more than 1 km and does not provide the necessary accuracy for some applications. Therefore, forming an optimization problem for a set of consecutive observations improves the positioning accuracy to about 500 m. Given the limitations of these methods and to increase the accuracy, auxiliary and complementary sensors are required, and combining with speedometer, gyro and magnetometer that are available can further improve the positioning accuracy and, depending on the accuracy of these sensors, reach about 70 meters, which is well demonstrated by the Monte Carlo simulation results.