Abstract:   In order to solve the problem of difficulty in accurately locating pod of rotor UAV, this paper uses 2.4 GHz wireless ranging device as a pseudolite positioning device, and uses extended Kalman filter to deal with the nonlinear problem in the dynamic positioning algorithm of pseudolite. The experimental results show that using the pseudolite system proposed in this paper and the algorithm to locate the unmanned pod dynamically, it can achieve high positioning accuracy both in the plane and in the vertical direction, which has an important practical application value.