Aiming at the indoor positioning requirements of modern multi-floor buildings

an indoor positioning method using a barometer to assist ultra wide band（UWB）is proposed

which corrects the error of UWB indoor positioning in the height direction

reduces the number of base stations

performs accurate three-dimensional positioning

and dynamically updates the position in real time.Based on the UWB two-dimensional plane positioning

the differential air pressure altimetry module collects the floor air pressure data to construct a floor air pressure model to assist the UWB positioning in the indoor height direction.At the same time

in the data processing

the generalized continuation method is used to extrapolate the original data

and the motion trajectory is fitted to correct the error of UWB indoor positioning.The test results show that the differential air pressure altimetry module can achieve more than 99 % accuracy

and can quickly and accurately identify the floor.The UWB indoor positioning precision can reach 12.5 cm

the motion track is accurately fitted

and the positioning performance is good.