Abstract: To solve the problem of localization and tracking of AGV inside the building, an AGV localization and tracking algorithm based on Ultra Wide Band (UWB) positioning is proposed. For the problem of abnormal localization error probability of TDOA method in 3-base station localization, targets’ kinematics information is utilized sufficiently to decrease the probability of localization error. Then, the interior environment is described in the proposed algorithm. Environmental information is extracted from a motion area by using the geometric relationship. Then the model-set of the proposed algorithm is adjusted to get a low probability of error estimation. The introduction of motion prior information of motion into the localization algorithm has the advantage of the high probability of positioning accuracy. The introduction of environmental prior information into the tracking algorithm has the advantage of low probability of error estimation. The simulation results show that this method has a low probability of error estimation and the localization error, and can effectively achieve the 3-base station indoor AGV location and track inside the building.