The invention provides a map matching and locating method and system based on particle filter. The method comprises the following steps: disintegrating a feasible domain of an indoor environmental map into a rectilinear road feasible region and a cross region, and numbering paths contained in the regions; acquiring a particle cloud of a current location generated according to a PDR result and a number of the path at which the particle cloud of the current location is located; acquiring the current location of the particle cloud, variance of the current location, a step length, an estimated error of the step length, a course angle and an error of the course angle, updating a particle state, and obtaining the updated particle cloud; and according to the number of the path, judging a region in which a particle in the updated particle cloud is located, adjusting a weight of each particle in the updated particle cloud, and obtaining a locating result. By adopting the particle filter method, the particle cloud is established for the indoor environment map based on a locating solution and the error of the locating solution, and the locating solution is obtained in a way of adjusting and updating the particle cloud by virtue of the particle weight, so that the indoor location is realized, and the locating precision is improved.