The invention discloses a spacecraft attitude and orbit collaborative planning method based on chaotic population variation pigeon-inspired optimization (PIO), and belongs to the technical field of satellite attitude and orbit control. According to the spacecraft attitude and orbit collaborative planning method, the pigeon dynamic optimization strategy of exploring, searching, variation and homingis adopted at the evolution stage of an algorithm; at the map compass stage, initialization operation is conducted by adding chaotic operators aiming at the population initialization problem, after the population is initialized, adaptive operators are added, and thus the population can evolve in an adaptive mode according to the current population evolution state, and meanwhile the problem that the population is caught in the local optimal solution is solved by adding mutation operators; and at the landmark operator stage, contracting operators are added aiming at the problem of population contracting, the problems that superior individuals run away too fast, and the population degenerates are solved, thus the planning result is smoother, population evolution is deeper, the local optimalsolution problem and the algorithm divergence problem are solved, and the calculated quantity of the algorithm is further reduced.