The invention discloses an X-ray pulsar navigation embedded simulation system based on a semiconductor laser, which comprises a data simulation unit, a photon emission unit, a photon detection unit and a navigation test unit. The data simulation unit simulates X-ray pulsar radiation signal data, and sends the X-ray pulsar radiation signal data to the photon emission unit; the photon emission unit uses simulation data to modulate light intensity of a laser modulation laser, and radiate lasers to the atmosphere; the photon detection unit receives the lasers of the photon emission unit from the atmosphere, filters non-laser spectra components in background sunlight, and sends the received lasers to the navigation test unit after carrying out counting on the received lasers; and the navigation test unit carries out noise elimination, pulse profile accumulation, pulse arrival time measurement treatment on the data of the photon detection unit, and utilizes time measurement data to carry out a navigation test. The invention can provide a complete simulation experiment platform for obtaining navigation signals, signal processing, time synchronization and navigation design verification of navigation signals.