With the rapid development of micro aerial vehicle technology and mobile robots technology, the requirements for indoor navigation technology are becoming higher and higher, but navigation presence is low and equipment is relatively complex in indoor navigation system. To address this problem, an indoor active navigation method that combines laser radar positioning and geomagnetic sensors measurement was proposed. First, laser radar was used to scan the indoor environment, the map be constructed by collected data, the route be planed based on the destination information and the indoor environment information; and then the data which was obtained by laser radar continuously scanning environment was compared with the map data when the vehicle was traveling, the location was determined, direction of travel was obtained by geomagnetic sensor, whether the vehicle was on the right road was determined by the combination of position and direction of travel, the deviation will be corrected in time; last, whether arriving at designated location was determined by searching RFID landmarks. Simulation and experimental results show that the indoor laser radar navigation system is simple and the reliability is high, which meet the requirements of indoor navigation.