This paper proposed an improved algorithm based on Chan algorithm to improve the accuracy of three-dimensional (3D) positioning. For the 3D indoor positioning based on ultra wide band (UWB), the positioning accuracy is reduced due to non-line-of-sight environment (NLOS). Analyzing the TDOA wireless positioning technology based on UWB and deducing the Chan algorithm which can be applied to 3D positioning. The UWB locates the base station group, uses the three-dimensional Chan algorithm to estimate the tag coordinates for each group of base stations, and use the error by using the residual value weighting method. The simulation results show that the positioning accuracy of the estimated position of the tag is significantly improved by the residual weighting method. When the noise variance is 0.5, the average root mean square error is 0. 53m, which can effectively suppress the influence of NLOS.
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