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Personnel and equipment positioning in underground roadway is an important function of smart mines. UWB positioning system relies on a large number of anchor nodes deployed in advance in the positioning area, which has the problem of high deployment cost. In this paper, a method of Localization with sparse anchor nodes for roadway environment is proposed to reduce the deployment cost of positioning system. Combined with the special environment of roadway, a two-point positioning method is designed to obtain the location information of label nodes. An anchor node with multiple ranging modules is designed to obtain multiple different ranging information to improve node localization rate. A method of setting virtual anchor nodes is proposed. It is to upgrade a located label node to a virtual anchor node which increase the density of anchor nodes and improve the positioning accuracy. The final results show that the method can effectively reduce the number of anchor nodes and improve the positioning accuracy.