The wireless positioning system mainly consists of two parts, including information extraction and position calculation. The functions of each part are as follows: Information extraction: objects that can be used for positioning include wireless signals (such as GPS, Beidou, WiFi, cellular network, etc.), sensors (such as accelerometers, gyroscopes, etc.) and map information, etc., and different objects are extracted The targeting parameters also vary. For wireless signals, the distance information between transceivers needs to be obtained by estimating the parameter information of the wireless channel link between the two, such parameters include received signal strength, time of arrival, time difference of arrival, angle of arrival, etc. The actual received wireless signal is affected by non-line-of-sight transmission, multipath effect, and shadow effect. Therefore, even if the channel parameter information is accurately estimated, it is difficult to obtain an accurate straight-line distance between transceivers. The sensor obtains information such as the moving direction and step size of the positioning target. Map information is usually obtained by drawing high-precision maps to obtain vectorization parameters, which are used to constrain or optimize positioning targets.