To address challenges in test recovery of missile-borne equipments—including uncertain recovery zones, inability to manually initiate terminal operations, unstable data transmission links and power constraints—the paper proposes and implements a self-initiating positioning and recovery system utilizing Beidou-3 radio navigation satellite service/radio determination satellite service (radio navigation satellite service (RNSS)/radio determination satellite service (RDSS)) coordination. The system adopts a centralized control architecture, employing RNSS as the primary positioning method while activating RDSS short message communication under specific recovery conditions. A five-state state machine coordination mechanism is established for "standby-awakened-flight-recovery-landing hold" operations, ensuring reliable transmission of position data and critical parameters. Additionally, a self-initiating hold circuit combining "tilt switch physical triggering+microcontroller self-hold" is designed to handle long-term storage and high-dynamic impact scenarios during launch. Motion feature analysis further distinguishes transportation disturbances from launch processes. Prototype testing demonstrates the system′s stable performance in self-initiation, state switching, RNSS positioning and RDSS data transmission. Static positioning tests show an average error of approximately 0.45 m with maximum errors below 0.85 m. Short message communication maintains an overall reception success rate of at least 86.7% in both open and obstructed environments.