Positioning technology is a key issue for navigation control and path planning in robotics. The traditional positioning method is based on the global positioning system (GPS), which is difficult to complete accurate positioning and navigation functions. Positioning and navigation method that do not rely on GPS is currently research hotpot in the field of robotics. A point cloud information frame matching method based on radar acquisition was proposed.According to the improved position and attitude estimation algorithm of laser point cloud data, it was corrected and optimized in combination with nonlinear optimization to complete the precise positioning of the mobile robot in the unknown environment. Through the ROS robot operating system, an experimental platform was established, the improved algorithm was verified.It is proved that the robustness and positioning accuracy of the improved interframe matching algorithm corresponding to the mapping and positioning effect are better, which can meet the engineering requirements.