How to describe someone who often has his own idea and judgment

word-choice

Solution 1:

The only way I can think of this quality being expressed in a positive way is with the word self-assertive. It means that you aren't afraid to express your own opinions (you certainly have quite a few opinions of your own if you are self-assertive) and that you also feel confident in doing so.

Solution 2:

Iconoclast might seem a little strong for your use, but it has a positive ring to it. Non-conformist can be a compliment.

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