Map information can assist indoor localization to avoid improbable cases and achieve accurate location estimation. In this paper, we proposed a automatic method to extract useful information from indoor map as spatial skeleton database (SSD). Based on conventional probabilistic fingerprinting technique and particle filter tracking algorithm, we also proposed spatial skeleton-based dynamic probabilistic fingerprinting database (S-DFD) to filter out reference points (RPs) in fingerprinting database according to the previous target location and the walking distance between RPs. Finally, we proposed a spatial skeleton-based particle filter tracking (S-PT) which use SSD to construct realistic transition model. According to the experiment result, the whole system consists of SSD, S-DFD and S-PT called spatial skeleton-enhanced location tracking for indoor localization (SELT) can achieve accurate location estimation.