With　the　shift　of　social　change　from　a　single　dimension　to　multiple　dimensions,　people　have　also　put　forward　higher　requirements　for　the　quality　of　navigation　and　positioning　services.　How　to　improve　the　quality　of　navigation　and　positioning　services　and　meet　people＇s　growing　technological　needs　has　become　a　major　issue　of　concern　for　all　sectors　of　society.　Due　to　the　small　coverage　distance　indoors　and　the　susceptibility　to　environmental　changes,　it　is　also　prone　to　varying　degrees　of　obstruction,　and　the　closing　or　movement　of　indoor　doors,　furniture,　and　other　objects　can　also　have　a　certain　impact　on　the　signal.　Therefore,　this　article　attempts　to　conduct　further　research　on　high-precision　indoor　positioning　algorithms　based　on　UWB.　The　results　show　that　the　Root-mean-square　deviation　of　UWB　is　relatively　unstable,　the　maximum　is　35　cm,　and　the　minimum　is　19　cm.　The　positioning　effect　of　INS　is　significantly　better　than　that　of　UWB,　but　there　is　still　some　deviation　compared　to　the　real　trajectory.　And　over　time,　the　degree　of　deviation　between　INS　and　the　actual　trajectory　gradually　increases.　The　trajectory　effect　of　the　UWB-INS　combined　positioning　system　is　significantly　better　than　that　of　a　single　positioning　system,　with　a　positioning　accuracy　of　about　14cm.　The　long-term　positioning　effect　is　more　stable　and　closer　to　the　real　trajectory.　©　2023　IEEE.