Patent ID: 9588520
Date: 2017-03-07
CPC Classifications: G05D

Claim:
1. A positioning navigation method for an electronic apparatus, which comprises a plurality of first sensors and a second sensor, for positioning an indoor environment, the positioning navigation method comprising: executing a movement process from a start position, wherein in the movement process, distance detection is continuously performed by the first sensors, orientation detection is continuously performed by the second sensor, and a position coordinate corresponding to the electronic apparatus is recorded every first time period; executing a direction changing process when detecting that a distance between the electronic apparatus and an obstacle falls in a predetermined distance range, wherein in the direction changing process, the electronic apparatus rotates by a rotation angle according to the second sensor and an intermediate position coordinate corresponding to the electronic apparatus is recorded every second time period; and determining the position coordinate corresponding to the direction changing process among the recorded intermediate position coordinates according to a distance between each of the intermediate position coordinates and the obstacle, the rotation angle corresponding to each of the intermediate position coordinates, a distance trust weight, and an angle trust weight after the direction changing process, and re-executing the movement process.