The　ultra-wideband(UWB)　signal　is　affected　by　systematic　measurement　error　and　Not-Line-of-Sight(NLOS)　error　when　it　propagates　in　complex　indoor　environment,　which　leads　to　poor　positioning　accuracy　and　stability.　In　order　to　reduce　the　influence　of　error　on　the　accuracy　of　positioning　results,　a　Hyperbolic-weighted　centroid　algorithm　based　on　Kalman　Filter　is　proposed　in　this　paper.　The　method　is　based　on　the　time　difference　of　arrival(TDOA)　location　model.　The　measured　value　of　the　TDOA　distance　difference　is　first　filtered　by　Kalman　Filter,　and　then　the　obtained　results　are　used　as　the　input　of　the　Hyperbolic　location　algorithm　to　acquire　the　initial　solution.　For　further　offsetting　the　effect　of　error　on　positioning　accuracy,　a　weighted　centroid　technique　is　applied.　We　evaluate　the　performance　of　the　proposed　method　in　both　simulation　and　experimental　results.　The　experimental　results　show　that　the　position　accuracy　is　effectively　improved　by　the　algorithm.　When　the　measurement　error　satisfies　the　Gaussian　distribution　and　the　standard　deviation　is　0.1　m,　the　Root　Mean　Square　Error(RMSE)　of　the　location　results　is　about　11　cm.