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In order to achieve high precision indoor positioning, UWB positioning scheme was proposed. This positioning system was based on the combination of DS-TWR algorithm and TDOA algorithm, which eliminated the problem of time desynchronization between positioning base stations and tag. The collected outlier data was filtered to remove signals disturbed by noise. The Kalman filtering was introduced for predictive estimation of localization data. The experimental results showed that the root-mean-square error in the X-axis direction and Y-axis direction after Kalman filtering was controlled within 10 cm, which improved about 5 cm compared with the actual measurement positioning error.