In order to improve localization performance of in-door localization system based on technique

based on the Doppler-invariant property of hyperbolic frequency modulation（HFM） signal

an accurate range and speed estimation method is proposed by using a compound HFM signal; and the specific modulation method of the compound HFM signal is given by concerning the spectrum leakage.The results of numerical simulation shows that the ranging performance of our proposed method is superior to conventional method based on linear frequency modulation signals.The experimental evaluation results show that the probability of range estimation errors less than 0.1 m and 0.05 m are 90 % and 80 %

respectively; the probability of speed estimation errors less than 0.1 m/s and 0.09 m/s are 88 % and 80 %.Both the estimation precision and computation complexity can meet the requirements of indoor positioning systems for smart mobiles

which means high values for real application and promotion.