The navigation system is widely used in the field of car navigation and GPS embedded cell phones. However, the navigation system is limited to the use in the outdoor environment. This paper presents the indoor navigation method by using the positioning system which has been developed with ultrasonic sensors. The proposed navigation method is considered by not only map information of paths but also congestion and personal tastes information and we show results of the proposed method. Finally, the simulation results for indoor navigation are shown by taking the positioning error and direction error into accounts.