TWI550256B - Bim-based indoor navigation method, indoor navigation information generation method, computer readable recording medium, and indoor navigation apparatus - Google Patents

Description

Indoor navigation method based on building space information model, indoor navigation information generating method, computer readable recording medium and indoor navigation device

The present invention relates to a navigation method and apparatus, and more particularly to an indoor navigation method, an indoor navigation information generation method, and an indoor navigation device.

The conventional indoor navigation method relies on wireless communication signals (such as Wi-Fi, RFID, NFC, or mobile communication) as the basis of positioning navigation, and the signal is susceptible to the influence of surrounding objects to reduce the signal strength and influence the judgment of the target position. In addition, the external reference coordinates provided by wireless communication tend to cause error accumulation, which also affects the effect of indoor navigation.

Furthermore, the above indoor navigation technology requires additional wireless signal transmitting equipment inside the building, which adds hardware cost, construction cost and construction time. In places where the spatial distribution is complicated, the wireless signal is easily affected by objects (such as hospitals), or the space is not suitable for places where a large number of wireless signal transmitting devices are additionally arranged, such as construction sites (such as buildings under construction, government buildings, shopping centers). Because the above-mentioned conventional indoor navigation method relies on the wireless communication signal, the on-site personnel, the site manager and the like can quickly use the indoor navigation to facilitate the operation.

In view of the above, the indoor navigation technology provided by the present invention is based on a building spatial information model (BIM) indoor navigation solution, It can make up for the problem of indoor navigation when wireless signal navigation technology is not available.

According to a first embodiment of the present invention, a method for generating indoor navigation information is proposed. The method includes: a step of establishing a node based on BIM, which uses an arithmetic device to generate an operation in an indoor map of the building in a two-dimensional or three-dimensional manner according to a building space information model (BIM) data of a building a plurality of nodes corresponding to the node position signal received by the device; and the step of establishing a path based on the BIM, wherein the multi-stage path corresponding to the path planning signal received by the computing device is generated in the indoor map by using the computing device; and, the output is The indoor navigation information step, the output includes at least path information and indoor navigation information of the building space information model (BIM) data, wherein the path data is based on the plurality of nodes and the path of the plurality of segments, the indoor navigation information system Used for mobile device reading for BIM-based indoor navigation.

According to a second embodiment of the present invention, an indoor navigation method based on a building space information model is proposed. The method comprises: a building indoor map presenting step, wherein the building space information model (BIM) data in the indoor navigation information is presented as an indoor map in a two-dimensional or three-dimensional manner by using a mobile device; and a user guiding step, which utilizes the The mobile device generates a navigation message according to the first path of the plurality of paths represented by the path information in the indoor navigation information, where the navigation message includes at least a starting point of the first path in the indoor map to the first path The direction of the end point of the user; the user walking path detecting step, which uses the inertial sensing unit of the mobile device to detect the motion state of the mobile device to estimate the walking path of the user of the mobile device; and whether the path is deviated a determining step of determining, by the mobile device, whether the walking path deviates from the first path according to the path data; if the walking path is deviated from the first path, generating a reminder message by using the mobile device; wherein the method is Each segment of the path of the plurality of segments is used for stepwise indoor navigation.

According to a third embodiment of the present invention, an indoor navigation device is provided, comprising: a presentation unit, an inertial sensing unit, and a processing unit. The processing unit is configured to control the rendering unit and read an output signal of the inertial sensing unit for indoor navigation; wherein the processing unit controls the rendering unit to use the architectural space information model (BIM) data in the indoor navigation information The rendering unit controls the rendering unit to generate a navigation message according to the first path of the plurality of paths represented by the path data in the indoor navigation information, where the navigation unit at least includes The direction of the first path in the indoor map to the end of the first path; the processing unit reads the output signal of the inertial sensing unit to estimate the walking path of the user of the mobile device; the processing unit is based on Determining whether the walking path deviates from the first path; if the walking path is deviated from the first path, the processing unit controls the rendering unit to generate an alert message; wherein the processing unit is for each of the plurality of paths Segment path to gradually navigate indoors.

According to another embodiment of the present invention, a computer readable recording medium is provided, which is capable of recording a computer readable command (such as a program or a software module), and when the instructions are executed by a processing unit of a computer, The processing unit is caused to execute the indoor navigation information generating method according to any one of the foregoing first embodiments or other embodiments.

According to still another embodiment of the present invention, a computer readable recording medium is provided, which is capable of recording a computer readable command (such as a program or a software module), and when the instructions are executed by a processing unit of a computer, The processing unit is caused to perform an indoor navigation method based on a building space information model according to any one of the foregoing second embodiments or other embodiments.

In order to better understand the above-described embodiments and other aspects of the present invention, the following embodiments will be described in detail below with reference to the accompanying drawings.

10‧‧‧ arithmetic device

15‧‧‧Indoor navigation information

20‧‧‧ mobile devices

80‧‧‧ buildings

90‧‧‧Server

110‧‧‧ Presentation unit

111‧‧‧Display device

112‧‧‧Voice device

120‧‧‧Inertial Sensing Unit

130‧‧‧Processing unit

PH‧‧‧ navigation path

A, B‧‧‧ position

A1, A2‧‧‧ position

B1, B2‧‧‧ position

C, C1, C2, C3‧‧‧ nodes

R1, R2‧‧‧ oblique sides

T‧‧‧ corner location

M1‧‧‧ indoor map

W1‧‧‧ window

P1‧‧‧First path

RP, RP1‧‧‧ walking path

S100, S110, S120‧‧‧ steps

S200, S210, S220‧‧‧ steps

S230, S231‧‧‧ steps

S240, S250, S260‧‧‧ steps

Figure 1 shows an application schematic of an indoor navigation technique in accordance with the present invention.

2 is a schematic flow chart showing an embodiment of a method for generating indoor navigation information according to a first embodiment of the present invention.

FIG. 3 shows a schematic diagram of an embodiment in accordance with an indoor navigation information generating method.

Figure 4 shows a schematic diagram of an embodiment of an image at a corner.

FIG. 5 is a schematic flow chart showing an embodiment of an indoor navigation method based on a building space information model according to a second embodiment of the present invention.

Fig. 6 shows a schematic diagram of an embodiment for judging whether or not the walking path is deviated.

Figure 7 shows a schematic diagram of one embodiment of a display screen generated in accordance with an indoor navigation method.

Figure 8 is a schematic block diagram showing an indoor navigation device in accordance with a third embodiment of the present invention.

Figure 1 shows an application schematic of an indoor navigation technique in accordance with the present invention. As shown in FIG. 1, the computing device 10 executes an indoor navigation information generating method according to the present invention to generate indoor navigation information 15 based on a Building Information Model (BIM). For example, the indoor navigation information 15 includes at least BIM data of the building 80 and path information for indoor navigation. The indoor navigation information 15 is used for reading by the mobile device 20 for BIM-based indoor navigation. When the user carries the mobile device 20 into the building 80, executing a program (such as an App or a system program) or a program module according to the indoor navigation method of the present invention, the mobile device 20 can utilize the BIM data in the indoor navigation information 15 to present The indoor map of the building 80, and in turn, uses the path information in the indoor navigation information 15 to generate a navigation message to guide the user to walk from the location A of the building 80 along the navigation path PH to the location B.

In addition, for example, the computing device 10 can upload the indoor navigation information 15 to the server 90 via a wired or wireless communication link for downloading by the mobile device 20; and the mobile device 20 can directly read the indoor navigation information from the computing device 10. 15; or the computing device 10 shares the indoor navigation information 15 to the mobile device 20 via the communication software. In addition, the computing device 10 is any electronic device having a data processing function, such as a computer, such as a desktop computer, a notebook computer, or a tablet computer. Brain, smart phone, etc. The mobile device 20 can refer to any mobile computing device that can be hand-held, portable or wearable, such as a smart phone, a tablet, or a smart watch. However, embodiments of the invention are not limited thereto.

Embodiments of the indoor navigation method based on the architectural space information model, the indoor navigation information generating method, the computer readable recording medium, and the indoor navigation device according to the present invention are described below to explain various embodiments.

2 is a schematic flow chart showing an embodiment of a method for generating indoor navigation information according to a first embodiment of the present invention. As shown in FIG. 2, the indoor navigation information generating method generates the indoor navigation information 15 by using an arithmetic device. The method includes at least a BIM-based node establishment step S100, a BIM-based path establishment step S110, and an indoor navigation information step S120.

Step S100 establishes an indoor navigation node based on the BIM. In step S100, a plurality of node position signals corresponding to the node position signals received by the computing device 10 are generated in the indoor map of the building presented in two or three dimensions according to the building space information model (BIM) data of the building. node.

Step S110 establishes an indoor navigation path based on the BIM. In step S110, a plurality of segments corresponding to the path planning signal received by the computing device 10 are generated in the indoor map.

Step S120 is to output indoor navigation information 15. In step S120, the indoor navigation information 15 including at least the path data and the building space information model (BIM) data is output, wherein the path data is based on the plurality of nodes and the data of the complex path. The indoor navigation information 15 is used for reading by the mobile device 20 for BIM-based indoor navigation.

In an embodiment of the above implementation manner, the path planning signal is a planning sequence indicating the plurality of nodes.

In another embodiment of the above implementation manner, the indoor navigation information generating method may further include: generating a corner image step, which utilizes a building space information model (BIM) The data generates an image of at least one of the plurality of nodes in the indoor map; and the indoor navigation information 15 further includes one or more images at the corner.

FIG. 3 shows a schematic diagram of an embodiment in accordance with an indoor navigation information generating method. FIG. 3 is a diagram showing a three-dimensional indoor map M1 in accordance with the BIM of the building 80 in the screen of the computing device 10. As shown in FIG. 3, the computing device 10 executes a program or a program module of an embodiment of the indoor navigation information generating method, so that the user can mark the indoor navigation node position and display it in the indoor map M1 (as shown in FIG. 3). a node C) represented by a circle, wherein an input (such as a numeric and/or text input), a mouse click, or a touch click made by the user in the computing device 10 is regarded as the above The node position signal in step S100.

The indoor navigation path can be established in different ways. For example, the computing device 10 connects the plurality of nodes C into a line segment according to the user's own planning order or input order; or the user indicates that the node C is to be connected as a path after marking the plurality of nodes C. . Regardless of the manner in which the path is formed, such input related to path formation (such as number and/or input, mouse click, touch click, or node input order, etc.) can be regarded as the path in the above step S110. Planning signal.

After the path is established, the user may instruct the computing device 10 to output the indoor navigation information 15 including at least the path data and the BIM data, wherein the path data is based on the plurality of nodes C and the data of the complex path; for example, the path The data includes the coordinates of each node and the data of each path (such as direction and/or distance); or the path data represents the data of each path in the order of each node. For example, the computing device 10 can display the coordinates and order of the plurality of nodes C in the indoor map M1 by using the window W1 for confirmation by the user (for example, by pressing the window W1). OK button).

In addition, the user can select one or more nodes in the plurality of nodes C to generate a two-dimensional or three-dimensional image according to the BIM data by using the computing device 10 to simulate The situation on the spot. For example, FIG. 4 shows a schematic diagram of an image of a corner T in FIG. The indoor navigation information 15 may further include images at one or more corners.

In another implementation example, the indoor navigation information generating method of the first embodiment of the present invention can be implemented on an application software platform (such as Autovit's modeling program Revit for establishing a BIM model). For example, Revit provides users with the ability to write programs to extend the use of the application interface (Application Programming Interface (API)), according to the indoor navigation information generation method to write the relevant software modules. For example, the software module can be programmed to take out the coordinates of the indoor navigation node (in the path planning order) and the critical path image, and package it into a file to become the indoor navigation information 15 and further upload it to the cloud. server. Further, the embodiment of the present invention is not limited to the form in which the indoor navigation information 15 exists, and is not limited to the type of the application software platform or the type of programming language to be applied. For example, the indoor navigation information 15 can also be represented by an individual BIM data file, a path data file, or an image file. The program for generating the information based on the indoor navigation information can also be directly written in a programming language such as C++ or Java.

FIG. 5 is a schematic flow chart showing an embodiment of an indoor navigation method based on a building space information model according to a second embodiment of the present invention. As shown in FIG. 5, the indoor navigation method uses the mobile device 20 to perform indoor navigation. The method includes at least: a building indoor map presenting step S200, a user guiding step S210, a user walking path detecting step S220, and whether or not it is deviated. Path determination step S230.

In step S200, the building space information model (BIM) data in the indoor navigation information 15 is presented as an indoor map in a two-dimensional or three-dimensional manner by the mobile device 20 for the user to view.

In step S210, the mobile device 20 generates a navigation message according to the first path of the plurality of paths represented by the path information in the indoor navigation information 15 to allow the user to Perceived, the navigation message includes at least a direction from a start point of the first path in the indoor map to an end point of the first path.

In step S220, the inertial sensing unit of the mobile device 20 is used to detect the motion state of the mobile device to estimate the walking path of the user of the mobile device.

In step S230, the mobile device 20 determines whether the walking path deviates from the first path according to the path data; if the walking path deviates from the first path, the mobile device generates an alert message, as shown in step S231. .

The above is an embodiment of the indoor navigation method. Since the path data used for indoor navigation has a plurality of paths, the embodiment is directed to each segment path of the plurality of paths (which can be regarded as the first path described above). The indoor navigation is stepwise in accordance with the order of the complex path. In practice, the mobile device 20 may also reuse the steps therein or perform the steps in a different order than in FIG. 5, and these embodiments may also be considered as embodiments of the second embodiment.

The indoor navigation method of the second embodiment of the present invention can be implemented in other manners, and some embodiments are listed below for illustration.

In an embodiment, as shown in FIG. 5, if it is determined in step S230 that the walking path does not deviate from the first path, step S240 may be further performed to determine whether to end the navigation. If no, continue to navigate. If the first path has been navigated, navigation of the next segment of the path can be performed; at this time, the next segment of the path can be regarded as the new first path, so the method can continue from step S210, and for the remaining path. , and so on. In step S240, if the result of the determination is that the end point of the navigation has been reached, the navigation is stopped.

In another embodiment, as shown in FIG. 5, after the reminder message is generated in step S231, the method may further determine whether the user ignores the reminder message, as shown in step S250. If the result of the determination in step 250 is no, the navigation is continued. If the first path has been navigated, navigation of the next segment of the path can be performed; at this time, the next segment of the path can be regarded as the new first path, so the method can continue from step S210, and for the remaining path. , and so on. In one implementation In the example, if the result of the determination in the step 250 is YES, further processing may be performed, for example, a further reminder message is sent, such as a window, or a matching sound and a flashing indication, to alert the user. Step S250 can make a judgment according to whether the user confirms the reminder message on the window. In addition, in another embodiment, step S250 can also determine whether the user ignores the warning message according to the walking path of the user; if the deviation between the walking path and the first path is reduced, the user can be determined. The reminder message is not ignored; if the deviation is maintained or increased, the user can be judged to ignore the reminder message. Referring to FIG. 5 again, in an embodiment, if it is determined in step S250 that the user ignores the reminder message, the route may be automatically re-planned as shown in step S260, and the user may be navigated accordingly (eg, using step S210). . For example, the re-planned route is a path from the user's current walking path back to the first path; for example, the re-planned route is from the current walking path of the user to the end of the first path The second path; however, the implementation of the present invention is not limited thereto. For example, the re-planned route may be a second path from the user's current walking path to one of the plurality of paths.

In an embodiment, the navigation message includes a direction and a distance from a starting point of the first path to an end point of the first path in the indoor map.

In some embodiments, the navigation message (or the reminder message) is presented in at least one of an image (eg, a 2D or 3D image), a voice, and a tactile sensation. For example, the mobile device uses voice signals to indicate navigation messages, such as "please go forward" and "please turn left", and the voice mode can also cover other sounds, such as music. For example, a mobile device (such as a mobile phone or a tablet) can change the amplitude or frequency of the vibration of the mobile device body to make the user feel the touch as a guiding message; and the mobile device is a wearable device (such as smart glasses). It is also possible to vibrate left and/or right to present the guidance message in a tactile manner.

In an embodiment, in step S230, the mobile device 20 compares the first path with the walking path, and if the difference between the walking path and the first path is greater than the first threshold, determining the walking path. Deviating from the first path and generating the mobile device accordingly Reminder message. In practice, it can be calculated by vector or statistical method. As shown in FIG. 1, the solid line segment is the planned path, and the dotted line segment is the user walking path RP detected by the mobile device. In FIG. 6, the user does not turn left at the node C2 (such as at the intersection) but goes straight (such as the walking path RP), and the planned path is separated from the walking path at the node C2. Using the accelerometer of the mobile device to detect the progress of the user, each time the mobile device records the coordinates of the point, for example, the step of stepping through the node C2 is B1; the mobile device is simultaneously A position A1 is recorded at the same step distance on the line segment of the planned path (eg, the path from node C2 to node C3). In the example of using the vector to determine the deviation, the angle between the vector B1C2 and the vector A1C2 is calculated, and when the angle exceeds a certain angle threshold (for example, greater than or equal to 50 degrees (or 90 degrees)), the deviation is determined. path. In an example of using statistics to determine the deviation, the line segments B1C2 and A1C2 can be regarded as forming a triangle having a hypotenuse R1, and the line segments B2C2 and A2C2 generated by the user in the next step can also form a triangle having a hypotenuse of R2; And so on, at a time threshold (such as 3, 5 or 10 minutes), the oblique R (such as R1, R2, etc.) exceeds a certain threshold (such as 5 or 10 meters) and reaches a certain size (such as The deviation path is determined when the average threshold value exceeds the threshold value of 10 meters in 5 minutes or the number of times (e.g., the distance threshold exceeds 5 times within 5 minutes). Further, when the user leaves from the planned path (e.g., position K1 or K2), it can be determined that the departure path is the node C2 in the above example, and the above example is used to determine whether the walking path is deviated. Additionally, implementations of the invention may be implemented in other ways and are not limited to the examples described above.

In an embodiment, the alert message includes at least a direction from the travel path to the first path, or at least a direction and a distance.

In an embodiment, the method further comprises: presenting an image at a corner of the plurality of paths according to the image data in the indoor navigation information, such as shown in FIG.

In an embodiment, the method further comprises: presenting the first path and the walking path in the indoor map. For example, as shown in FIG. 7, the mobile device 20 performs the indoor navigation method according to the embodiment, and the indoor device according to the building 80 is presented in the screen of the mobile device 20. Figure M1, and shows the starting point (e.g., node C1) and the end point (e.g., node C2) of the first path P1, and the walking path RP1 of the user (e.g., represented by a rectangle with a slash).

Figure 8 is a schematic block diagram showing an embodiment of an indoor navigation device in accordance with a third embodiment of the present invention. The indoor navigation device shown in FIG. 8 can be used to perform any of the embodiments of the indoor navigation method according to the second embodiment described above, as well as other embodiments. In FIG. 8 , the indoor navigation device includes at least a presentation unit 110 , an inertial sensing unit 120 , and a processing unit 130 . The coupling manner of each unit may be changed according to an implementation manner, and thus is not limited to FIG. 8 . The presentation unit 110 includes a display device 111 and a voice device 112. For example, the inertial sensing unit 120 includes at least one of an accelerator, a gyroscope, and an electronic compass, or a combination thereof; and other can be used to detect the motion state of the indoor navigation device. The sensor can also be used to implement the inertial sensing unit 120. The processing unit 130 is configured to control the presentation unit 110 and read the output signals of the inertial sensing unit 120 for indoor navigation. The processing unit 130 controls the presentation unit 110 to present the architectural space information model (BIM) data in the indoor navigation information in a two-dimensional or three-dimensional manner as an indoor map. The processing unit 130 controls the presentation unit 110 to generate a navigation message according to the first path of the plurality of paths represented by the path information in the indoor navigation information, where the guidance message includes at least a starting point of the first path in the indoor map. The direction to the end of the first path. The processing unit 130 reads the output signal of the inertial sensing unit 120 to estimate the walking path of the user of the mobile device. The processing unit 130 determines whether the walking path deviates from the first path according to the path data; if the walking path deviates from the first path, the processing unit 130 controls the rendering unit 110 to generate an alert message. The processing unit 130 performs stepwise indoor navigation for each segment path of the plurality of segments.

The indoor navigation device of the present embodiment can be realized by the aforementioned mobile device 20. That is, an indoor navigation device can refer to any mobile computing device that can be hand-held, portable or wearable, such as a smart phone, a tablet computer, a smart watch, a wearable device (such as a wearable computer, if equipped with Smart glasses for optical head-mounted displays). So in In practice, the display device 111 can be implemented by using a different display such as an LCD screen, an OLED screen, or an optical head mounted display, and the display device 111 can also touch the screen. In addition, the indoor navigation device of the present embodiment can also be implemented as a dedicated device, such as a wearable device. In addition, in order to meet different needs, in addition to using visual and auditory methods, the user can also be guided by the touch method.

In addition, the present invention further provides another embodiment, which discloses a computer readable recording medium, which records a computer readable command (such as a program or a software module), and the instructions are computer processing units. When executed, the processing unit can be caused to execute the indoor navigation information generating method according to any one of the foregoing first embodiments or other embodiments.

In addition, the present invention further provides another embodiment, which discloses a computer readable recording medium, which records a computer readable command (such as a program or a software module), and the instructions are computer processing units. When executed, the processing unit can be caused to perform an indoor navigation method based on the architectural space information model according to any one of the foregoing second embodiments or other embodiments.

The above computer readable recording medium is, for example but not limited to, an optical information storage medium, a magnetic information storage medium or a firmware or a general memory (such as RAM, ROM or flash memory), and may also be included in the network/ Transfer the program code passed on the medium (such as air, etc.).

As disclosed in the above embodiments, the indoor navigation technology provided by the present invention provides a BIM-based indoor navigation solution, which can complement the problem of inconvenient indoor navigation in the case where the wireless signal navigation technology cannot be utilized. In some application examples, there is no need to rely on external communication technologies (such as Wi-Fi, RFID, NFC, or mobile communication) for navigation work, and by means of critical path image information such as images at corners, indoors Navigation can be achieved in a low-complexity manner, that is, the user's direction can be judged without precise positioning, so that the user can achieve a good indoor navigation experience. In addition, in places where the spatial distribution is complicated, the wireless signal is easily affected by objects (such as hospitals), or the space is not suitable for additionally arranging a large number of wireless signal transmissions. The equipment location, such as the construction site, because the indoor navigation method and indoor navigation device provided by the present invention are combined with BIM data, it can help accelerate the realization of indoor navigation, allowing field personnel, site managers and other personnel to use indoors. Navigate to the job.

In summary, the content of the present invention has been exemplified by the above embodiments, but the present creation is not limited to only the embodiments. Various changes and modifications may be made in the technical scope of the present invention without departing from the spirit and scope of the present invention; for example, the technical contents exemplified in the foregoing embodiments may be combined or changed. As a new implementation, these implementations are of course considered as one of the contents of this creation. Therefore, the scope of the patent to be protected in this case also includes the scope of the patent application and the scope defined by it.

10‧‧‧ arithmetic device

15‧‧‧Indoor navigation information

20‧‧‧ mobile devices

80‧‧‧ buildings

90‧‧‧Server

PH‧‧‧ navigation path

A, B‧‧‧ position

Claims (13)

An indoor navigation method based on an architectural spatial information model, comprising: a building indoor map presenting step, which uses a mobile device to present an architectural spatial information model (BIM) data in indoor navigation information into an indoor map in two or three dimensions. a user guiding step, wherein the mobile device generates a navigation message according to the first path of the plurality of paths represented by the path information in the indoor navigation information, where the navigation message is included in the indoor map at least a direction of the first path to the end of the first path; a user walking path detecting step of detecting the motion state of the mobile device by using the inertial sensing unit of the mobile device to estimate the use of the mobile device a walking path of the person; a deviation from the path determining step, wherein the mobile device determines whether the walking path deviates from the first path according to the path data; and if the walking path deviates from the first path, generating a reminder by using the mobile device a message; wherein the method is to gradually navigate indoors for each segment of the path of the plurality of segments The indoor navigation method based on the architectural space information model described in claim 1, wherein the guidance message further comprises a distance from a starting point of the first path to an end point of the first path in the indoor map. The indoor navigation method based on the architectural space information model described in claim 1, wherein the guidance message is presented in at least one of image, voice, and touch. The indoor navigation method based on the architectural space information model described in claim 1, wherein in the step of determining whether to deviate from the path, the mobile device compares the first path with the walking path, and if the walking path and the walking path If the difference value of a path is greater than the first threshold, the mobile device generates the reminder message. The indoor navigation method based on the architectural space information model described in claim 1, wherein the alert message includes at least a direction, or at least a direction and a distance from the walking path to the first path. The indoor navigation method based on the architectural space information model described in claim 1, further comprising: presenting an image at a corner of the plurality of paths according to the image data in the indoor navigation information. The indoor navigation method based on the architectural space information model described in claim 1, further comprising: presenting the first path and the walking path in the indoor map. A computer readable recording medium recording a computer readable command capable of causing the processing unit to perform the execution of any one of claims 1 to 7 when the instructions are executed by a processing unit of the computer Indoor navigation method based on architectural spatial information model. An indoor navigation device includes: a presentation unit including a display device and a voice device; an inertial sensing unit; and a processing unit configured to control the presentation unit and read an output signal of the inertial sensing unit for indoor navigation Wherein: the processing unit controls the rendering unit to present the architectural space information model (BIM) data in the indoor navigation information as an indoor map in a two-dimensional or three-dimensional manner; the processing unit controls the rendering unit according to the indoor navigation information a first path of the plurality of paths represented by the path data to generate a navigation message, where the navigation message includes at least a direction from a start point of the first path in the indoor map to an end point of the first path; the processing unit reads Taking the output signal of the inertial sensing unit to estimate the walking path of the user of the mobile device; the processing unit determines, according to the path data, whether the walking path deviates from the first path; if the walking path deviates from the first path a path, the processing unit controls the rendering unit to generate a reminder message; The processing unit gradually performs indoor navigation for each segment path of the plurality of segments. An indoor navigation information generating method, comprising: a step of establishing a node based on BIM, which uses an arithmetic device to display in an indoor map of the building in a two-dimensional or three-dimensional manner according to a building space information model (BIM) data of a building Generating a plurality of nodes corresponding to the node position signals received by the computing device; and establishing a path based on the BIM, using the computing device to generate a plurality of path planning signals corresponding to the path planning signals received by the computing device in the indoor map a segment path; and an output indoor navigation information step, the output of which includes at least path information and indoor navigation information of the building space information model (BIM) data, wherein the path data is based on the plurality of nodes and the path of the plurality of segments, The indoor navigation information is used for mobile device reading for BIM-based indoor navigation. The indoor navigation information generating method as claimed in claim 10, wherein the path planning signal is a planning sequence indicating the plurality of nodes. The indoor navigation information generating method as claimed in claim 10, further comprising: generating a corner image step, using the building space information model (BIM) data to generate in the indoor map, at least one of the plurality of nodes The image; wherein the indoor navigation information further includes an image at the corner. A computer readable recording medium recording a computer readable command capable of causing the processing unit to perform the execution of any one of claims 10 to 12 when the instructions are executed by a processing unit of the computer Indoor navigation information generation method.