Abstract: According to the upcoming Chinese asteroid mission, we did a full simulation analysis on the optical navigation according to three types of optical observations based on on-board camera. We built the dynamic model of the asteroid exploration firstly, and then selected the celestial bodies we could observe during mission, which help to determine the observe scheme and direction of the camera. Based on such setting, we simulated the observations and did the orbit determination. The results indicates that when the observable periods extends to 100h, the position error of the spacecraft could reaches to 50 km, which could meet the navigation requirement, but the position and velocity components in X and Y directions have strong autocorrelation. Meanwhile, the results also show that the orbit determination accuracy based on single observation type data is 3-4 orders of magnitude lower than that of joint observation. The third-type observation has a significant contribution to the orbit determination with respect to another two kinds of observations, which indicates that the use of the solar system bodies for 2016HO3 exploration is more helpful to constrain the spacecraft position. This paper will provide some reference for the autonomous navigation technology of China's future asteroid exploration missions.