The invention discloses an autonomous unmanned system software adaptive evolution method based on a model base frame, which uses a server to build an autonomous unmanned system based on the model baseframe, and combines an AADL architecture, a crawler and an ANTLR tool chain to build a complete work flow. The method comprises the following steps: describing ROS nodes and a navigation function module by utilizing the existing thread, process and other component representation methods of an AADL language, constructing a corresponding framework, designing code generation software, directly generating codes according to the framework by combining an AADL file and an OSATE tool, and compiling and running in an ROS environment. Crawlers are used for running on a server at regular time, algorithm types in a framework are continuously expanded, existing basic files of AADL are combined, a system model is constructed together with newly-added function modules, and the problem of long-term growth of the framework is solved. An ANTLR tool chain is used for achieving a code analysis function, and the technical problems of framework development and interaction between a framework and the outside are solved.