As smartphones are widely spread and used, the pedestrian navigation systems are utilized in our daily lives. A pedestrian dead reckoning method, or PDR method in short, is one of the positioning methods in indoor environments, which estimates user's positions by using sensors such as acceleration and angular velocity sensors. Particularly, by combining smartphone and smartwatch sensors, an effective PDR method has been proposed. This method can reduce drift errors even when the user carries his/her smartphone in various carrying modes without external infrastructures. However, the estimation errors tend to become large in the environments with many right and left turns. In this paper, we propose a PDR method combining smartphone and smartwatch sensors based on map information. In the proposed method, we generate walking nodes and walking edges from map information given and introduce multiple scenarios to effectively infer the user's current positions. Through experimental evaluation, we confirmed the effectiveness of the proposed method.