apt-get install qemu binfmt-support qemu-user-static debootstrap

update-binfmts --display|grep arm
qemu-arm (enabled):
 interpreter = /usr/bin/qemu-arm-static
qemu-armeb (enabled):
 interpreter = /usr/bin/qemu-armeb-static

mkdir -p /embedded/raspbian/dev
mkdir -p /embedded/raspbian/proc
mkdir -p /embedded/raspbian/sys

qemu-debootstrap --no-check-gpg --arch armhf jessie /embedded/raspbian http://archive.raspbian.org/raspbian

mount -o bind /dev /embedded/raspbian/dev
mount -t proc proc /embedded/raspbian/proc
mount -t sysfs sysfs /embedded/raspbian/sys
setenv QEMU_CPU arm1176
chroot /embedded/raspbian /bin/bash

echo "deb http://archive.raspbian.org/raspbian/ jessie main contrib non-free rpi" > /etc/apt/sources.list
wget http://archive.raspbian.org/raspbian.public.key -O - | apt-key add -
apt-get update
apt-get install locales
dpkg-reconfigure locales