An indoor navigation method of a handheld terminal, the method comprising the steps of: after receiving an indoor navigation instruction sent by a user, controlling, by the handheld terminal, a camera of the handheld terminal to obtain an image within a field of view of a lens, performing data analysis on a barcode of at least two barcode labels that is preset in a preset indoor position in the image within the field of view of the lens, obtaining identifier information of the at least two barcode labels in the image within the field of view of the lens, and selecting a preset quantity of color blocks from the at least two barcode labels in the image within the field of view of the lens according to a preset color block selection rule; calculating coordinates corresponding to each of the selected color blocks in a pixel coordinate system according to a position of each selected color block in the image within the field of view of the lens, and calculating coordinates corresponding to each of the selected color blocks in a world coordinate system on the basis of preset association data of identifier information of the at least two barcode labels and coordinates of the selected color blocks in the world coordinate system, and according to the at least barcode label at which each selected color block is located; and calculating coordinates of the handheld terminal in the world coordinate system on the basis of the coordinates corresponding to each of the selected color blocks in the pixel coordinate system and in the world coordinate system according to a preset coordinate calculation rule, to obtain a position of the handheld terminal, wherein each of the at least two barcode labels comprises a label matrix, a barcode, and two color blocks; both the barcode and the two color blocks are provided on the label matrix, the two color blocks are located at two ends of the barcode, and the barcode is encoded with identifier information of the barcode label to which the barcode belongs; and the preset quantity of the selected color blocks is four, and the preset color block selection rule is as follows: if there are only two barcode labels in the image within the field of view of the lens, two color blocks are selected from the two barcode labels in the image within the field of view of the lens, respectively; and if there are more than two barcode labels in the image within the field of view of the lens, two barcode labels closest to the lens are targeted and two color blocks are selected from the two targeted barcode labels, respectively. after receiving an indoor navigation instruction sent by a user, controlling, by the handheld terminal, a camera of the handheld terminal to obtain an image within a field of view of a lens, performing data analysis on a barcode of at least two barcode labels that is preset in a preset indoor position in the image within the field of view of the lens, obtaining identifier information of the at least two barcode labels in the image within the field of view of the lens, and selecting a preset quantity of color blocks from the at least two barcode labels in the image within the field of view of the lens according to a preset color block selection rule; calculating coordinates corresponding to each of the selected color blocks in a pixel coordinate system according to a position of each selected color block in the image within the field of view of the lens, and calculating coordinates corresponding to each of the selected color blocks in a world coordinate system on the basis of preset association data of identifier information of the at least two barcode labels and coordinates of the selected color blocks in the world coordinate system, and according to the at least barcode label at which each selected color block is located; and calculating coordinates of the handheld terminal in the world coordinate system on the basis of the coordinates corresponding to each of the selected color blocks in the pixel coordinate system and in the world coordinate system according to a preset coordinate calculation rule, to obtain a position of the handheld terminal, wherein each of the at least two barcode labels comprises a label matrix, a barcode, and two color blocks; both the barcode and the two color blocks are provided on the label matrix, the two color blocks are located at two ends of the barcode, and the barcode is encoded with identifier information of the barcode label to which the barcode belongs; and the preset quantity of the selected color blocks is four, and the preset color block selection rule is as follows: if there are only two barcode labels in the image within the field of view of the lens, two color blocks are selected from the two barcode labels in the image within the field of view of the lens, respectively; and if there are more than two barcode labels in the image within the field of view of the lens, two barcode labels closest to the lens are targeted and two color blocks are selected from the two targeted barcode labels, respectively.