Under GNSS autonomous navigation mode, traditional system cannot support integrity services. Therefore, a GNSS autonomous navigation integrity weighted technique based on crosslink has been developed, using the modified weight matrix of robust M-estimator for crosslink range degrading by failure satellite. Results show that it can ensure autonomous navigation services precision with continuous stable autonomous orbit determination and time synchronization. Simulation of this technique suggests that it can effectively remove effects of autonomous orbit determination by failure satellite, which has the same orbit determination precision of healthy constellation.