The invention discloses a method for judging adaptation of a gravitational field in gravity matching navigation. A density function estimation method for spatial domain and abnormal gravitational field is introduced, the density function estimation for spatial domain and abnormal gravitational field is introduced for forming a density function of a mixed domain and a local region is integrated for acquiring an adaptation function value, so that the defects of the traditional algorithm are effectively overcome. A gravity information matching process is adopted for supplying more timely and effective position information for correcting the accumulated error of inertial navigation.