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Some limitations exist in the positioning method of current rail transit based on transponder and odometer, such as the lack of positioning accuracy and high cost, thus, a positioning method based on Ultra Wide Band technology has been studied. According to the motion characteristics of the object to be tested and the ranging performance of the UWB module, a positioning synthesis algorithm withSsome constraintSconditions is designed. The algorithm using the least square method, Taylor recursion method and Kalman filter together, and two kinds of constraint conditions including orbital equation and continuity are added. The algorithm solves the problem of poor positioning accuracy of the external part of the area enclosed by ground reference base stations, and overcomes the disadvantage of large error caused by non-line-of-sight and multi-path effect when using UWB module. Experimental analysis and calculation results show that when the object to be tested is within 50m from the ground reference base station, the positioning error is within 10cm, and the method with fast positioning speed and small error has high engineering application value.