The invention provides an indoor map generating method based on multi-user track fitting. According to the indoor map generating method, a
system comprises mobile terminals, low-power-consumption beaconing modules and a
cloud database, data including directions, speeds, accelerations, air pressures and the like are acquired through built-in sensors of mobile phones; the acquired data are subjectedto de-noising process to analyze walking statuses of users, walking tracks are generated in the mobile phones for the users respectively, and then deviation points in the tracks are corrected by means of measuring power of the beaconing modules at fixed positions; track data are uploaded to the
cloud database by the mobile terminals respectively, so that when a
user needs, the track data uploadedby everybody can be downloaded from the could
database by a mobile terminal; in the mobile terminal, the track data from everybody are subjected to superposition process, the optimal indoor path canbe analyzed through a track
fitting algorithm, and a complete indoor map path can be generated. Compared with a traditional indoor positioning method, the indoor map generating method based on multi-user track fitting has the advantages that cost is low, data are convenient to acquire, the defect that
satellite signals are susceptible to interference is overcome, and high safety is realized.