Abstract: Aiming at the slow speed of two-dimensional accurate positioning of TOF in coal mine sites, a two-dimensional positioning method based on TOF combined with TDOA was proposed to meet the needs of rapid localization in coal mine sites. Before positioning, a master base station and three slave base stations are grouped to be responsible for two-dimensional positioning of an area. When the identification card is in the area, the distance between the four base stations and the identification card can be measured by only one DS-TWR ranging. At the same time, TWR can use time stamp to realize UWB wireless clock synchronization. Optional three base stations and identification card ranging distance can realize two-dimensional positioning. Through random combination, four sets of two-dimensional coordinate data can be obtained. Kalman filtering can obtain more accurate two-dimensional coordinate data. The TOF combined with TDOA two-dimensional precise positioning method has the advantages of fast positioning speed, high positioning accuracy, and simple positioning process.