The invention discloses a ground-space collaborative operation orchard pruning machine based on autonomous navigation, and the orchard pruning machine includes an unmanned aerial vehicle, a laser radar, and a full-hydraulic self-propelled orchard pruning machine. The method comprises the following steps: firstly, acquiring an orchard path image in real time by the unmanned aerial vehicle, and analyzing the acquired image, transmitting the information to a real-time data transmission terminal through an information transmission technology, and controlling the full-hydraulic self-propelled orchard pruning machine according to the navigation path plan, the navigation control system and the execution mechanism to perform pruning operation, and the laser radar is adopted for carrying out pose estimation and walking route correction on the full-hydraulic self-propelled orchard pruning machine, and the intelligent trimming operation of the fruit trees is completed.