Abstract: The key to the question about autonomous navigation of GNSS is to found a time-space coordinate system which attached itself to an earth centered earth fixed system. Autonomous orbit determination based on inter-satellite range measurements can maintain the relative position between navigation satellites,but cannot determine the constellation rotation. The cause lies in the fact that inter-satellite range velocity measurements don't reflect the right ascension of ascending node systematic error. The reason and solution of constellation rotation error are discussed and the method adaptive to GNSS autonomous orbit determination through a simulation experiment is pointed out.