The invention discloses an indoor movable positioning and drawing method. The indoor movable positioning and drawing method comprises the following main steps: inputting acquired point cloud data according to requirements; carrying out point cloud primary treatment which specifically comprises point cloud filtering, point cloud coordinate conversion and nonlinear interpolation, and under-sampling; carrying out attitude prediction of a track by adopting a particle filtering method; generating a sub-map, adding a target and carrying out constraint calculation, specifically including generation of a dynamic sub-map, adding a virtual target and an overall target, partial bundling and overall constraint calculation; carrying out overall optimization by utilizing map optimization and reducing accumulation errors caused by frame-by-frame matching; updating a result including updating sub-map data, track data and overall map data generated according to the track; preserving result data. According to the indoor movable positioning and drawing method, a GPS (Global Positioning System) and an IMU (Inertial Measurement Unit) are not used, the data processing speed is rapid and the parallel processing is easy to realize; the drawing precision is high and centimeter-grade precision is realized.