The invention relates to a vision measurement, path planning and GNC integrated simulation system for a space robot, which comprises an image processing and pose measuring module 1, a space robot planning and control module 2, a target controller module 3, a system dynamic model module 4, a system 3D geometric model module 7, a binocular camera simulation imaging module 6, a three-dimensional calibration module 5 and the like. The system integrates image processing and pose measurement, GNC algorithm, path planning, control, dynamics and the like, so that the closed-loop simulation and verification of all key algorithms in the process of tracking, approaching and capturing non-cooperative targets by the space robot can be performed on an independent PC. The system does not need to adopt real measurement equipment, a space robot system and targets, and is low in cost, good in safety and flexibility and easy to implement; and the system is good in expandability, and the closed-loop simulation and verification of cameras (installation positions and viewing angles) and space robots (kinematic and dynamic parameters) with different parameters can be implemented by modifying the parameters.