Abstract: Due to the irregular spatial distribution of mine roadway, disorganized equipment, random layout, poor working environment, and common phenomenon of NLOS (Non Line of Sight), etc., the positioning accuracy of personnel and equipment is low, in view of this problem, a novel precise three-dimensional positioning system based on Ultra Wide Band(UWB) is designed. Firstly, Kalman algorithm was used to perform NLOS filtering for TDOA measurements, then Chan algorithm was used to fuse multi-base station data to calculate the target position. An experimental platform was built to measure and calculate the label location. The experimental results show that the system has high positioning accuracy for both fixed and moving targets in mine roadway under harsh environment.