By reviewing the development of satellite navigation systems in China and other countries, this paper discusses the technical characteristics and indexes of the systems. It focuses on spatial constellation, space-time datum, navigation signal, navigation augmentation, and multi-function integration from the perspectives of technical approach and system service. In addition to systemically introducing the present status of satellite navigation systems and their technical innovation during development, the paper also provides an outlook on their development trend and related key technologies. This review can support the construction of satellite navigation systems and positioning, navigation and timing (PNT) systems in China.