Aiming at the problem that the inflatable aerodynamic decelerator （IAD） is difficult to establish a folding model with regular folds and radial compression rate，the segmentation mapping folding （SMF） method is proposed in this paper. Firstly， flattened planes are obtained by using the segmentation mapping technique. Then the segmented planes are transformed into a continuous geometric folding model by using the matrix transformation. Finally， the initial stress is used to modify the model errors during folding process， which can reduce the problems of stress concentration and mesh distortions during inflation process. Numerical results show that surface area and volume errors of the inflated single torus are only 1.8%， demonstrating the high precision of SMF method. The initial and the full shapes of the IAD are consistent with those of the experimental， and the inflation process is stable and orderly， demonstrating the reliability and applicability of SMF method. The proposed folding method can be used in the multidimensional compression and regular folding of any surface of revolution， and also improves the accuracy and stability of the surface inflation numerical simulation.