The invention discloses a high-precision positioning method based on an MEMS (Micro Electro Mechanical System) inertial sensor. The high-precision positioning method comprises the following steps: firstly, fixedly connecting the MEMS inertial sensor on a foot of a pedestrian, enabling the MEMS inertial sensor to sense a motion state of the foot, acquiring foot navigation information of the foot in real time, and realizing transmission by Bluetooth; secondly, holding an Android mobile phone by the pedestrian, and receiving and saving data provided by the MEMS inertial sensor in real time at an Android client; thirdly, carrying out denoising processing on the data; fourthly, obtaining a zero velocity interval by adopting a zero velocity detection algorithm, and then carrying out error correction by combining a zero velocity update algorithm with a state estimation algorithm; fifthly, displaying data subjected to error correction and compensation in real time by the Android client through a user interface. According to the high-precision positioning method disclosed by the invention, extra auxiliary basic setting is not needed; good positioning precision of various complex motion states in indoor positioning can be maintained; real-time correction and error compensation are realized by adopting a mobile terminal, and the motion track is displayed in real time by a user interaction interface.