With the development of the service industry based on location information, indoor positioning technology has been increasingly concerned and studied. Due to the centimeter-level positioning accuracy,indoor positioning technology based on UWB is playing a more and more important role in the industrial application field. In UWB indoor positioning, the signal will inevitably be blocked by various obstacles, so the non-line-of-sight environment composed of various obstacles will reduce the indoor positioning accuracy. Therefore, it is urgent to solve the problem of non-line-of-sight error caused by obstacles in UWB indoor positioning.

With the rapid development of indoor location-based services (LBS), indoor 3D positioning technology has gradually become one of the research hotspots. Among the popular indoor 3D positioning methods, Ultra-wideband (UWB) has become the first choice due to its unique technical advantages. UWB three-dimensional positioning technology can be divided into two types: measurement-based and fingerprint-based matching. In a complex and dynamic indoor environment, these two types of methods have the following problems: 1. The measurement value is susceptible to environmental influences, which makes the accuracy of the positioning algorithm based on the measurement method decrease; 2. The change in the indoor environment makes the fingerprint library invalid, which increases This reduces the cost of maintaining and updating the fingerprint database, and reduces the accuracy of fingerprint-based matching algorithms. This paper studies the above two issues in depth and proposes corresponding improved algorithms. The main contents and innovations are as follows:

本文选用超宽带 (UWB)技术作为基础,以实现高精度室内人员定位的要求。文中选用IEEE802.15.4a模型作为UWB的信道模型，利用Matlab软件仿真UWB发射及接收信号，通过Wylie算法鉴别目标节点与参考节点间的LOS和NLOS传播，筛选出性能更优的参考节点，更新到达时间差，得到较为准确的初值估计，保证之后的算法收敛。同时推算出可靠度最高的参考节点与目标节点的方位角、俯仰角信息,将其代入基于泰勒级数的TDOA/AOA混合算法后，进行三维定位，最后利用Matlab模拟及分析不同算法三维定位情况。与其他算法相比，优化后的混合算法在各种情况下均表现出了更为良好的定位精度，显示了其应用于室内定位的优势。

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Now the Global Positioning System (GPS) and Beidou Satellite Navigation System (BDS) these two kinds of outdoor positioning system technology is increasingly mature,But compared with the rapid development of modern outdoor positioning technology, the indoor positioning was not respected by people, the indoor positioning this research topicis also slowly walked into people's horizons. Compared with the outdoor environment, the indoor environment is more complex, and the application of the previous outdoorpositioning technology in the indoor environment is far from a good positioning effect. In recent years, Ultra Wide Band(UWB) technology has become one of the most popularresearch topics in indoor positioning field due to its advantages of strong anti-interference ability, high precision and low power consumption.

With the development of intelligent manufacturing, various service-oriented indoor robots have brought great convenience to people's lives. The prerequisite for robots toachieve specific services is to be able to achieve autonomous and precise positioning. UWB technology is a pulse communication technology that uses extremely narrow pulse signals to transmit data. It has the characteristics of low cost, low power consumption and simple system transceiver structure. It has great advantages in the field of high-precision indoor positioning. Through the research of UWB technology, this subject designs an indoor robot positioning system based on UWB, which has the characteristics of high real-time, high precision and low complexity, and can meet the needs of indoor robot positioning. The research of indoor robot positioning system based on UWB mainly includes the design of ranging scheme, the simulation and realization of ranging and positioning algorithm, the design and driving of hardware system, the writing of upper computer code, and the verification of UWB indoor robot positioning platform. The work of this thesis is as follows:

With the development of science and society, the requirement of people for location survice change from outdoor location and navigation to indoor location survice.GPS is a mature technology, but is not fit for indoor location because of the shield wall, so many indoor technology come out, such as UWB, Ultrasonic, WiFi and UHF-RFIDand so on.Ultra Wide Band (UWB) technology has strong penetrability, low power dissipation, multipath effect high-resolution, high security, high location accuracy andso on. So this paper delve into distance measurement and location algorithm based on UWB, and combine differential method in order to correct location coordinate, realisehigh-accuracy real time location of under-test tag in three-dimentional space.