Navigation and positioning method for indoor mobile robot

The invention aims to provide a navigation and positioning method for an indoor mobile robot. Two positioning encoding disks of which encoder axes are not parallel and which are distributed at any angle and an uniaxial optical fiber gyroscope are used for positioning, the positioning encoding disks are installed on the indoor mobile robot, positioning data are directly transmitted to a control system in time, and the data which are fed back by encoders are processed by the control system through a positioning algorithm, so that coordinates of the robot can be positioned. According to the navigation and positioning method, on the basis of the positioning encoding disks and the uniaxial optical fiber gyroscope, i.e. two optical encoders provided with omnidirectional wheels are vertically distributed, the indoor mobile robot belongs to a mechanical device, compared with a wireless sensing response network system, a GPS (Global Position System) navigation and positioning system and the like based on electronic components, a measuring device provided by the invention is simple, the implementation is convenient, and the mechanical device has high stability; the positioning accuracy of the robot can be controlled within 0.5% through experimental debugging for about five times, and high positioning accuracy is obtained.