Solving the indoor positioning problem can effectively improve work and life efficiency. Outdoors, navigation and positioning mainly rely on satellites to provide global positioning and road network topology to constrain the direction of travel. Therefore, to achieve good indoor navigation and positioning, two things are needed: 1) continuous position acquisition and 2) an indoor road network. Since the indoor environment is relatively stable, the geodetic coordinates of key indoor nodes can be obtained in advance through measurement methods and control points can be set up. Inertial navigation is stable and autonomous, and when combined with control points, it can achieve stable position acquisition. QR codes are rich in information, low in cost, and easy to deploy. They can be used as nodes to construct an indoor road network or as control points. This study proposes an indoor road network map construction method that can achieve local accuracy and global consistency in large indoor scenes. In this indoor road network map, node information includes the position and posture of the QR code. When a machine passes through a node position, it can obtain its absolute position and direction in the geodetic coordinate system by taking a picture of the node’s QR code and combining it with IMU fusion positioning. Through map edge information, indoor navigation and path planning can be achieved.