In many navigation application scenarios, e.g., emergency rescue, mall shopping, medical guiding, and self-guided tours, the floor plan is regarded as a prior. As a result, these navigation systems are short of scalability and robustness. Focusing on this issue, this paper proposes a dynamic landmark-based method for constructing the indoor map, which mitigates the dependence to a prior with the state-of the-art. First of all, the coarse-grained trajectories are obtained by dead reckoning, meanwhile the static indoor landmarks (such as stairs, elevators, escalators) are captured and dynamic indoor landmarks (three kinds of inflection points) are identified by inertial data. Secondly, the trajectory are constructed calibration and integration is leveraged to implement the indoor pathway mapping. Finally, constructing extensive experiments by means of the prototype to evaluate the proposed design. The analysis results demonstrate that the maximum error and average error are 1.90 m and 0.90 m respectively.%在应急救援、商场导购、患者导医、参观引导等导航应用场景中，往往需要室内平面图作为先验知识，从而使得大量室内导航系统缺乏可扩展性和鲁棒性。针对该问题，该文提出基于动态地标的在线室内平面图生成方法，减少现有方法对先验知识的依赖。首先利用智能移动设备内置的惯导传感器数据和航位推算法获取粗粒度移动轨迹，继而提出一个同步静态地标(楼梯、电梯以及手扶电梯等)和动态地标(轨迹拐点)的识别方法；其次，利用这些地标信息提出多用户参与的轨迹自校正和组合方法实现室内平面图生成；最后，利用原型系统获取的数据评价所提方法。分析结果显示，该文方法的最大误差以及平均误差分别为1.90 m 和0.90 m。
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