Indoor navigation method and indoor navigation device

The invention provides an indoor navigation method and an indoor navigation device. The method comprises the following steps of: a path planning step, planning a moving path according to a starting point and environment information and providing the moving path to a user; a heading fusion step, carrying out real-time Kalman filtering on a gyroscope and a direction sensor to acquire heading fusion information and output; an anti-interference step, screening an available iBeacon list based on positioning information of the sensor and acquiring iBeacon positioning information of an initial point and a characteristic point, and acquiring sensor navigation information according to displacement information and the heading fusion information; a multi-source data fusion navigation step, carrying out the real-time Kalman filtering on a sensor navigation system and an iBeacon navigation system to acquire fusion navigation information and output; and a navigation information display step, calling a map engine module, an