In view of the problem of nonlinear system filter under non-Gaussian noise caused by radar angular glint，conventional filter will be greatly affected and performance degradation or even divergence may occur. To solve the problem，a relative navigation algorithm of ASUKF filter is proposed to suppress radar angular glint and estimate the relative position and relative speed between the tracking spacecraft and the target spacecraft. ASUKF filter can use Sage-Husa method to adjust the strategy adaptively，quickly estimate the statistical characteristics of measurement noise，and use UKF to achieve accurate estimation of nonlinear system. It has certain robustness to the contaminated Gaussian distribution noise. Finally，the effectiveness of the relative navigation method is verified by simulation: 1) In the case of angular glint noise，the statistical mean value of relative position accuracy is better than 5.77 m，and the relative speed respectively is better than 0.22 m/s; and 2) It has better anti-interference ability than EKF and UKF，and can improve the robustness and stability of relative navigation system.