In unknown indoor environment,the algorithm of simultaneous localization and mapping (SLAM)based on iterative closest point (ICP)matching is complex and has more calculating works.It’s difficult to assure the real-time performance if the algorithm is implemented on the ARM-based embedded control system for micro UAVs.An indoor flight localization method based on laser ranging scanning is proposed to reduce matching time and improve the real-time performance of SLAM algorithm,which uses feature points of indoor environment to replace laser scanning datum for ICP matching.In the process of extracting feature points of indoor environment,a real feature point selection mechanism is proposed to reduce matching errors caused by false feature points and to assure matching accuracy.Test platform has been set up and the test results indicate that the proposed method can meet the requirements of real-time performance and accuracy of the indoor flight localization for the micro UAVs.