Abstract: Autonomous navigation is the premise for application of intelligent robot operation, which is the basic function to ensure the robot carries out multi-functional operations without human control. This paper mainly discussed and analysed technologies for autonomous navigation in orchard, navigation data processing algorithms, and navigation control strategies. First, existing single-sensor based navigation solutions in orchard and their limitations were analyzed, and it was concluded that multi-sensor based navigation had high accuracy and robustness, which is the development trend of orchard navigation in the future.Second, the main stream navigation data processing algorithm used by orchard mobile robot at present and its supporting role for environment perception and path planning were introduced. Finally, the common path tracking and navigation control strategy of orchard mobile robot were discussed. The research status of orchard mobile robot autonomous navigation was comprehensively analyzed and introduced in this paper, which is helpful to promote the theoretical innovation and rapid development of orchard mobile robot research.