Aiming at the problem of large fluctuations of received signal strenght indication（ RSSI） values in traditional fingerprint positioning algorithms based on RSSI due to the influence of multipath in the indoor environment

take advantage of ultra-wideband signal with high time resolution and accurate ranging value

propose that ranging value is used as fingerprint to construct an ultra-wideband fingerprint positioning scheme. The proposed fingerprint positioning algorithm combines with Mean-Shift and weighted K-nearest neighbors

not only reduces the on-line matching workload

but also reduces the impact of environmental changes on the positioning results. Actual scene experiment show that the new scheme can achieve positioning precision of cm level in range of visibility and nonlight of sight environments

which increase positioning precisition and robustness effectively.