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Statistical studies show that the number of China"s motor vehicle ownership, at the end of 2016, reached 290 million, while the annual growth rate maintains at the rate of 3%. Nevertheless, the performance of traditional GPS plummets in the complex indoor environment, leading to the dramatic performance deterioration of the navigation system indoors. An iBeacon based system for underground parking pool is proposed in this paper. Experiment results show that the average positioning error of the system reduces to 1.66 meters, and the probability of positioning error stays between 1.5 and 2 meters while continuous navigation keeps at 85.3%. The system provides a good solution to enhance the experience as well as efficiency for indoor parking lots.