Odometer-fused UWB (Ultra Wideband) multi-mode positioning system, method and device

The invention relates to a positioning technology, and provides a UWB multi-mode positioning system, method and device fused with an odometer, and the system comprises an environment deployment module which is used for deploying UWB base stations according to a to-be-measured environment, and comprises the steps: determining the number of UWB base stations and the coordinates of each UWB base station; the vehicle attitude acquisition module is used for acquiring the current moment of the vehicle and the attitude information of the current moment, including the vehicle attitude information not limited to the real-time mileage of a speedometer and the longitudinal speed of the vehicle body; the UWB tag is arranged on the vehicle and is used for acquiring the number of UWB base stations around the vehicle and distance measurement information; and the position judgment module is used for carrying out fusion calculation on the predicted position and the position range in the observation distance or the position, c