Navigation map construction method and device

The present invention provides a navigation map construction method and device. The method includes the following steps that: at least two scanning positions within a target area are determined; ultrasonic waves are emitted to at least one scanning region in the target area from any one scanning position in the at least two scanning positions, reflection waveforms corresponding to each scanning area are respectively obtained according to the reflected waves of the ultrasonic waves; as for each reflection waveform, distance relations between obstacles in the scanning areas corresponding to thereflection waveforms and the scanning positions corresponding to the reflection waveforms are determined according to the information of wave peaks contained in the reflection waveforms; as for each obstacle, direction relations between each obstacle and the scanning positions are determined according to the distance relations between the obstacles and the at least two scanning positions; and thenavigation map of the targ