The authors have been developing a highly accurate indoor positioning system using inaudible sounds capable of realizing positioning accuracy of a few cm. The application of this system is navigation, robot and drone automatic movement control. The authors propose the method of inserting information data into the sound for positioning. The sound is modulated by BPSK based on sensor data, and transmitted data embedded in the sound is extracted in a receiving side. The system whose function is both of accurate positioning and data transmission was designed and composed with a newly developed transmitter and software for data extraction. The validity of the proposed method and basic performance such as positioning accuracy and transmission quality were confirmed by experiment.