Indoor positioning method based on UWB

The invention provides an indoor positioning method based on UWB, and the method comprises the steps: obtaining the observed quantities of a target spot and a plurality of UWB anchor points in an indoor environment, including the coordinates of the plurality of UWB anchor points, and the distance between the target spot and each UWB anchor point; performing distance residual consistency detection according to the observed quantity, and judging whether the observed value has a fault or not; carrying out modeling and classification on the distance error, and obtaining the dispersion of each target point corresponding to the plurality of sampling points; fault detection is carried out in a random forest mode so as to distinguish normal data and fault data in the observed quantity; as for normal observed quantity data, a weighted least square positioning algorithm is adopted for positioning calculation; for abnormal observed quantity data, the error of the observed quantity is estimated in a biased Kalman filteri