A method for positioning an object on an indoor area is provided, where the area includes a plurality of sub-areas, a magnetic field map is given to the area, and the magnetic field map is a plurality of pre-measurement of magnetic fields in each of the plurality of sub-areas It is configured for use in obtaining the base norm. The disclosed positioning method includes the steps of acquiring a plurality of magnetic field norms at a location of an object on an area using a plurality of magnetic field sensor units (each of the plurality of magnetic field sensor units is arranged to measure a magnetic field at a different height, and Each of the plurality of magnetic field sensor units is a magnetic field measured by a corresponding one of the plurality of magnetic field sensor units) and estimating a location of the object as a specific one of the plurality of sub-regions by matching the plurality of magnetic field norms with a magnetic field map.
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