Due to the space limitation, the indoor mobile robot requires higher confirmation of position during operation,and the problem of village moving track positioning deviation. Therefore, a dynamic localization method of indoor mobile robot based on embedded laser radar is proposed. The collected lidar data are preprocessed by coordinate transformation and European range segmentation to remove the influence of noise on subsequent positioning. The echo intensity is used to determine the position fitting change of the reflector, and the trilateral positioning algorithm is used to precisely locate the mobile robot. The experimental results show that the positioning error of this method is small. It can not only realize the high-precision dynamic positioning of the indoor mobile robot as a whole, but also monitor the trajectory of the indoor mobile robot very well.