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With the increasing ease of building information modeling data usage, digital watermarking technology has become increasingly crucial for BIM data copyright protection. In response to the problem that existing robust watermarking methods mainly focus on BIM exchange formats and cannot adapt to BIM data, a novel watermarking algorithm specifically designed for BIM data, which combines element perturbation and invisible character embedding, is proposed. The proposed algorithm first calculates the centroid of the enclosing box to locate the elements, and establishes a synchronous relationship between the element coordinates and the watermarked bits using a mapping mechanism, by which the watermarking robustness is effectively enhanced. Taking into consideration both data availability and the need for watermark invisibility, the algorithm classifies the BIM elements based on their mobility, and perturbs the movable elements while embedding invisible characters within the attributes of the immovable elements. Then, the watermark information after dislocation is embedded into the data. We use building model and structural model BIM data to carry out the experiments, and the results demonstrate that the signal-to-noise ratio and peak signal-to-noise ratio before and after watermark embedding are both greater than 100 dB. In addition, the increased information redundancy accounts for less than 0.15% of the original data., which means watermark embedding has very little impact on the original data. Additionally, the NC coefficient of watermark extraction is higher than 0.85 when facing attacks such as translation, element addition, element deletion, and geometry–property separation. These findings indicate a high level of imperceptibility and robustness offered by the algorithm. In conclusion, the robust watermarking algorithm for BIM data fulfills the practical requirements and provides a feasible solution for protecting the copyright of BIM data. Full article