The working environment of tunnels, pipelines, highways and other occasions is difficult and harsh. With the development of science and technology, part of the work in these occasions is gradually replaced by robots, such as tunnel inspection. LinkTrack UWB positioning system provides an effective solution. By arranging the base station in the tunnel, the tag installed on the robot can measure the distance to the base station in the signal range in real time, so that the robot can determine the position in the tunnel in real time. The base station can monitor the distance between the tag and the nearby base station in the signal range, and then can monitor the position and trajectory of the robot in real time.