It matters whether your system is "closed" or "open" - the latter will have a header tank at the highest point of your dwelling, for example in an attic space. If it is open then in all likelihood it is self-filling but you would need to check that the tank has some water in it. The description you give of your radiator water suggests that there may be considerable sludge in the system in which case the system should be drained and cleaned with an additive, drained and flushed and then refilled with an inhibitor additive. If the system is closed then as murraymints suggests, it may help to ensure that it is properly filled to adequate pressure but if it is closed and keeps ingesting air then that suggests a leak somewhere. It is difficult to provide conclusive analysis without some additional checks and observations and solutions would depend on the conclusions.