The invention discloses a base station self calibration method based on Kalman filtering of a UWB positioning system. The method comprises the following steps: assuming that the position of the 0th base station is (0, 0, h0), and assuming that the position of the first base station is (0, l01, h1), wherein l01 expresses the distance between the 0th base station and the first base station, and thesecond base station can communicate with the 0th base station and the first base station to measure l02 and l12; separately performing Kalman filtering on l02 and l12; obtaining the coordinates of thesecond base station according to the height h2 of the second base station; and solving, by the nth base station, the own coordinates by measuring the distances with the n-1th and the n-2th base stations in combination with the height measured by the own height sensor. By adoption of the method disclosed by the invention, the positions of the base stations can be self calibrated, and the precisionof the obtained positions of the base stations is relatively high; and the provided base station calibration method can be easily expanded to the situation of a plurality of base stations.