The invention discloses a mobile robot autonomous navigation method based on combined navigation and feature point matching, and the steps are as follows: S1, establishing a spatial map database; S2,planning a path; S3, obtaining position information of a mobile robot; S4, performing Kalman filtering iteration; and S5, correcting the inertial navigation of the mobile robot. Autonomous navigationbased on combined navigation and feature point matching is to use laser radar to scan and model the surrounding environment, extract the surrounding feature points, determine the location of the distance feature points, and then calculate the current position of the robot in the map according to the location of the feature points in the known map, so as to determine the position coordinates to compensate for the blocking out of the GPS signal of the patrol robot.