For mobile robot using ultrasonic sensors detect interference existing in the environmental outline and the data uncertainty problems, based on the analysis of working principle of the ultrasonic sensors and the adjacent position after the correlation characteristics of detecting data, three position is proposed based on ultrasonic environmental detection method. First by using ultrasonic sensors to build the interior environment figure; Then the improved strong tracking UKF-SLAM method filters the ultrasonic measurement data and the driving model of mobile robot and gets more accurate pose information and map features after fusion optimization. In this study, setting up a simulation environment and assembling an Omni-directional mobile robot equipped with ultrasonic sensor in an indoor experimental to verify the feasibility and accuracy of algorithm. The simulation results show that the error in simultaneous localization and mapping was reduced by 58. 058% that compared with the other algorithm. Furthermore, the average error of the robot′s acquisition of environmental features is reduced by 50. 2863% . The feasibility and effectiveness of the improved algorithm proposed in this paper are further verified, and the method has certain reference value for Simultaneous Localization and Mapping.