The invention relates to the technical field of non-networked indoor autonomous positioning and navigation, in particular to a
smart phone positioning and navigation method and
system in a non-networked indoor scene, and the method comprises the steps that a
smart phone receives data returned by a
Bluetooth AOA positioning
base station through point-to-point communication, and an AOA position
estimation result is obtained through calculation of a single-base-
station AOA fusion positioning model; the
smart phone collects real-
time data of an IMU and a
magnetometer, and user coordinates and course angles are recursively estimated through a
pedestrian dead reckoning (PDR) method; according to an AOA
base station deployment condition of an actual indoor space, multi-
base station centroid positioning, AOA fusion positioning and PDR positioning are automatically switched, so that a position result can effectively cover a whole space scene; the method comprises the following steps: constructing an obtained binary grid map through an indoor map model, carrying out position post-
processing based on
map matching on positioning coordinates to obtain
pedestrian coordinates, and carrying out
digitization on a map model to realize map display and finally realize
pedestrian position display. The method can be reliably operated in a scene lacking network coverage.