Method for positioning few base stations in tunnel based on ultra-wideband positioning

The invention discloses a method for positioning few base stations in a tunnel based on ultra-wideband positioning, and belongs to the technical field of ultra-wideband positioning. The method comprises the following steps: if a label only receives an axial base station signal, making a parallel line of a tunnel central axis by passing through a last positioning point, intersecting the parallel line with an axial base station positioning circle, and taking an intersection point closest to the last positioning point as a current positioning point; if the signals of the two base stations are received, carrying out the positioning by using the positioning circles of the two base stations; if only one radial base station signal exists, taking the point, closest to the last positioning point, on the radial base station positioning circle as the current positioning point. According to the invention, the positioning signals can be received and transmitted through fewer base stations, the cost is reduced, and accurat