The present invention relates to a self-moving device moving and working in a work area defined by a border, includes: a housing； a moving module, mounted in the housing, and driven by a drive motor to drive the self-moving device to move； a control module, controlling the self-moving device to move and work； a satellite navigation device, receiving a satellite signal； at least one position sensor, detecting a feature related to a position of the self-moving device； and a fusion processing unit comprising at least two inputs, one is the satellite signal, and the other is an output of the position sensor； the fusion processing unit performs operation on the satellite signal and the output of the position sensor, and outputs position information of the self-moving device； and the control module controls the moving module to drive the self-moving device to move based on the position information.
