The invention relates to an intelligent parking lot based on a four-axis aircraft and a navigation method. The intelligent parking lot comprises the four-axis aircraft and a cloud computing server. When a vehicle drives in the intelligent parking lot, the four-axis aircraft takes off, flies to the periphery of the vehicle, navigates the vehicle according to a navigation planned path transmitted by the cloud computing server, obtains environment data around the vehicle in real time and transmits the environment data to the cloud computing server; when an owner finds a vehicle parked in the intelligent parking lot, the four-axis aircraft takes off, flies to the periphery of the owner, performs navigation for the owner according to a navigation planned path transmitted by the cloud computing server, obtains environment data around the owner in real time and transmits the environment data to the cloud computing server. The cloud computing server is used for generating and transmitting the navigation planned paths to the four-axis aircraft. By the adoption of the intelligent parking lot, of the structure, based on the four-axis aircraft and the navigation method, a user can conveniently and fast enter and exit from a parking space nearby, navigation is more visual and stereoscopic, and interestingness, entertainment and science and technology feeling of parking are improved.