Aiming at problem that while unmanned aerial vehicle（ UAV） is flying in the indoor

because the satellite signal is poor

it can not achieve indoor autonomous navigation flight

an indoor three-dimensional（ 3 D）coordinate map is constructed by using navigation receiver

and the positioning system based on ultra wide band（ UWB） technology is used to obtain the position information of indoor flight of UAV. The satellite information is obtained by satellite navigation simulation source in real-time. It can realize the indoor and outdoor autonomous navigation flight consistency. Both positioning system base station and tag design use STM32 chip as controller

DW1000 as wireless transceiver chip. In order to reduce the influence of non-line-of-sight（ NLOS） propagation of wireless signals

Kalman filtering model is used for smooth filtering processing of the original ranging information

and then time difference of arrival（ TDOA） is used to calculate the positioning ranging. For the hardware delay

ranging precision of between base station and the tag can reach ± 10 cm through the time delay calibration

and can be applied to the research and construction of the UAV flight test experiment platform.