14. A system for guidance and navigation in a building, comprising: a floor plan generator; a sensor for indicating a location of with a person in the building; a route generator connected to the floor plan generator and location sensor for generating a route for the person; and a sound generator for providing and associating audio tones with waypoints; and wherein: the route is in a form of segments and waypoints demarking the segments; the audio tones are for distinguishing waypoints from one another and pulse rates for indicating various distances of the recipient of the audio from a waypoint; a waypoint is associated with a location; a sequence of waypoints indicates the route; natural language navigation commands are generated from the segments and waypoints; natural language navigation commands are formed from sentence templates; and semantic information is attached to one or more waypoints and/or segments.
16. The system of claim 14 , further comprising: a 3D beacon audio simulator for providing information about waypoints to the person pursuing the route in the building; and wherein: feedback audio is generated to aid the person in staying on the route; the feedback audio is in the form of either audio tones or natural language navigation commands; and the route is established and updated on-the-fly during runtime of the system.