A positioning navigation method and an electronic apparatus thereof are provided. The positioning navigation method is adapted to the electronic apparatus for positioning an indoor environment and includes the following. A movement process is executed from a start position. In the movement process, distance detection is continuously performed by first sensors, orientation detection is continuously performed by a second sensor, and a position coordinate is recorded every first time period. When sensing that a distance between the electronic apparatus and an obstacle falls in a predetermined distance range, a direction changing process is executed. In the direction changing process, the electronic apparatus rotates by a rotation angle, and an intermediate position coordinate is recorded every second time period. After the direction changing process, a position coordinate corresponding to the direction changing process is determined, and the movement process is re-executed.