Abstract: Aiming at the deficiency of existing indoor positioning algorithms, a kind of improved RFID (radio frequency identification) based centroid localization algorithm is put forward based on the traditional centroid localization algorithm. The improved centroid localization algorithm relies on the environmental adaptability of RFID real-time positioning blanket, and can calculate the real-time coordinates of the target object. The experimental results show that the autonomous localization algorithm not only has high precision, but also has better stability and good anti-jamming ability, so it can be used for robot navigation and other fields.