A　UWB　high-accuracy　distance　measurement　method　based　on　hybrid　compensation　of　temperature　and　distance　error　was　proposed　in　this　paper.　First,　we　explored　the　influence　of　the　signal　propagation　time　error　and　analyzed　the　influence　of　temperature　and　humidity　on　ranging　results.　The　linear　correlation　coefficient　of　ranging　error　with　temperature　is-0.8793,　and　that　with　humidity　is　0.0147.　Based　on　this　experimental　result,　we　established　a　temperature　compensation　model　of　ranging　error.　Then,　we　collected　31　sets　of　experimental　data　in　the　range　of　0-190　m　to　explore　the　relationship　between　timestamp　delay　error　and　actual　distance,　and　finally　obtained　a　hybrid　compensation　model　based　on　temperature　and　distance.　The　statistical　results　show　that　the　error　after　hybrid　compensation　are　similar　to　the　Gaussian　distribution.　This　will　improve　the　esti-mation　accuracy　of　the　Kalman　filter.　The　model　was　also　tested　in　different　environments　to　verify　its　robustness.