The invention provides an ultra wideband indoor positioning method based on frequency modulation continuous waves. The method consists of three modules: a label terminal is a to-be-positioned entity and sends the frequency modulation continuous waves to the outside; the system is provided with a plurality of base stations, each base station is provided with antennas in pairs, two antennas receives the frequency modulation continuous waves with different delays and extract arrival time difference (TDOA) information through mixing, filtering, sampling, DFT and other modules in sequence, and each base station sends the TDOA information to a server; and the server integrates the TDOA information sent by each base station and solves nonlinear least squares optimization to obtain the position information of a to-be-positioned label. The system supports simultaneous positioning of a plurality of labels, and imports the frequency modulation continuous waves into the indoor positioning technology for the first time so as to bear distance difference information on easily extracted frequency information. The positioning precision of the system reaches a centimeter level, and compared with the traditional indoor positioning technology, the positioning precision is greatly improved.