To　achieve　fully　autonomous　operation　for　indoor　Mobile　Robot.　Localization　solution　has　become　an　active　research　topic　in　the　past　decade.　Normally　a　localization　system　is　required　to　be　reliable,　fast,　and　have　high　accuracy.　But　single　UWB　measurement　is　very　discrete　and　you　can　not　get　the　exact　orientation　of　the　mobile　robot.　To　overcome　these　shortcomings,　we　propose　a　novel　UWB/Gyroscope/Odometer-integrated　system,　in　which　UWB　measures　the　distance　between　the　tag　and　the　base　station　through　Time　of　Flight　and　then　calculating　the　tag　position　through　the　triangulation　algorithm.　Gyroscope　and　odometer　can　get　the　angular　and　linear　velocity　of　mobile　robot　respectively.　Which　can　provide　accurate　short-term　tracking　performance.　The　results　of　multi-sensor　are　fused　using　an　Extended　Kalman　Filter　(EKF).　The　experiment　results　also　show　that　the　algorithm　significantly　improved　accuracy　and　get　reliable　yaw　angle.