The invention discloses a navigation method. The navigation method comprises the following steps: acquiring a scene map, calibrating the original position and target position of a user in the scene map; calculating the optimal path from the original position to the target position according to the calibrated original position, target position and scene map; displaying the optical path, and navigating according to the optimal path; and in the navigation process, calculating the direction and distance of the user away from the original position in real time, and determining the real-time position of the user so as to realize the real-time navigation. The invention also discloses a navigation system and a corresponding mobile terminal. The navigation system is suitable for navigation at indoor emporiums, conference and exhibition places, large park and the like; on the basis of the mobile terminal which is provided with a direction sensor and a camera, extra expenditure is not needed, the map is acquired by shooting, so that relatively accurate navigation can be realized, and further, the user cannot be puzzled by routes, and can reach the expected places.