Abstract: Disclosed is a method for achieving space-based autonomous navigation of global navigation satellite system (GNSS) satellites, and relates to the field of satellite navigation technologies. The method includes the following steps: optimizing a DRO, and establishing a dynamic model of an earth-moon space satellite orbit; establishing measurement links, by a low earth orbit (LEO) data relay satellite, with an earth-moon space DRO satellite and a GNSS respectively, and measuring an inter-satellite distance for modeling and linearization; adopting an extended Kalman filter (EKF) method to process inter-satellite measurement data, and autonomously determining a position and velocity of the global navigation satellite system without depending on the ground measurement and control support.