The utility model discloses a formation navigation system of autonomous underwater vehicles. The formation navigation system comprises a ship-bone terminal and a shore-based data services center, and the ship-bone terminal comprises a ship-bone terminal controller, a ship-bone beidou navigation module communicated with a beidou satellite, a ship-bone global position system (GPS) navigation module communicated with a GPS satellite and a ship-bone general packet radio service (GPRS) data transmission module, wherein the ship-bone beidou navigation module, the ship-bone GPS navigation module and the ship-bone GPRS data transmission module are connected with the ship-bone terminal controller. The shore-based data services center comprises a data server, a shore-based beidou navigation module and a shore-based GPRS data transmission module, wherein the shore-based beidou navigation module and the shore-based GPRS data transmission module are connected with the data server. The formation navigation system combines functions of navigation location module such as the beidou satellite, a GPS, an acceleration transducer and GPRS communication, improves positional accuracy, complements advantages, conducts interactive communication between the beidou satellite and a GPRS wireless communication module and the shore-based data services center, achieves real-time network monitoring of formation of multiple autonomous underwater vehicles, and achieves authorization of WEB user access through use of WEB and a data base.