The invention discloses an INS (inertial navigation system)-assisted wireless indoor mobile robot positioning method, belonging to the technical field of wireless positioning of a robot. The positioning method comprises a training stage and a pre-estimating stage. The training stage comprises the following steps of: integrating an INS and a WSN (web shell navigator) in a local relative coordinate system; and carrying out data fusion on obtained synchronized navigation data by expanding a Kalman filtering wave to obtain continuous and stable navigation information. The pre-estimating stage comprises the following steps of: inputting the position and speed information measured by the INS into the training stage, and carrying out error compensation by a neural-network-trained INS error model to obtain optimal navigation information. According to the method provided by the invention, the INS positioning precision can be improved, and the positioning range of the indoor robot can be expanded on the basis that the WSN network scale is reduced.