Accurate indoor geolocation is an important and novel emerging technology for commercial, public safety, and military applications. Since most wireless communication systems used for indoor position location may suffer from dense multipath situation, which leads to a severe degradation of position accuracy. The improved TDOA/AOA(Time Difference of Arrival/ Angle of Arrival) position location for indoor ultra-wide band (UWB) systems in the thesis improves the position accuracy of indoor location by using fine resolution of UWB signals. In the line of sight situation, by means of increasing angle of arrival (AOA) information to time difference of arrival (TDOA) based location to achieve the goal of accurate indoor geolocation and provides non-line of sight (NLOS) error mitigation for time measurement and AOA selection to suppress the impact to position accuracy in NLOS environment. Finally, the extended Kalman filter is used to perform position tracking of the target. In the simulations, the NLOS error in time measurement is produced according to the characteristics of indoor UWB channel. Several assumptions of NLOS errors are made in angular measurement. It is observed that proposed method efficiently mitigates the position error in NLOS environment, and detect if the NLOS exists between base station and mobile station immediately.