This　paper　presents　an　adaptive　UWB-PDOA　positioning　system　that　overcomes　limitations　of　traditional　multi-base　station　methods.　By　leveraging　UWB-PDOA　technology　and　ESP32　signal　strength　adaptation,　the　system　reduces　reliance　on　environmental　deployment　while　improving　accuracy　and　stability.　A　prior　knowledge　base　is　created　by　integrating　environmental　and　target　height　information.　Adaptive　positioning　adjusts　confidence　weights　of　base　stations　using　sensor　data,　leading　to　enhanced　accuracy.　Experimental　results　demonstrate　high　accuracy　and　stability　in　both　LOS　and　NLOS　environments.　In　conclusion,　this　paper　introduces　an　adaptive　UWB-PDOA　positioning　system　that　effectively　overcomes　limitations　of　traditional　multi-base　station　methods.　©　2023　IEEE.