In view of the current UWB technology in the traditional plant layout mode indoor positioning error is large,can not achieve a good three-dimensional display of objects,an algorithm based on multi-sensor fusion is proposed,which preprocesses UWB data and IMU data before fusion.In this method,after the TOF ranging,the UWB data is denoised by wavelet threshold,and the recursive least squares localization is performed,and the extended Kalman filter is fused with the IMU data.In this way,the three-dimensional distance error of the label can be reduced,and the positioning accuracy can be improved,so as to achieve the purpose of real-time monitoring and management of the movable equipment in the factory.The simulation results show that the RLS-EKF indoor positioning based on multi-sensor fusion can reduce the three-dimensional positioning error of tags,improve the accuracy of positioning,and meet the accuracy requirements of indoor real-time positioning.