—A　wireless　sensor　network　for　positioning　an　inspection　robot　is　developed　for　a　transmission　pipe　gallery　environment.　The　time　difference　of　the　arrival　algorithm　optimized　by　the　least　squares　method　is　utilized　to　realize　the　wireless　positioning　function　of　the　robot　in　the　inspection　process.　The　developed　system　adopts　a　spiral　configuration　to　install　the　sensor　nodes　at　equal　intervals　on　the　sidewall　of　the　transmission　pipe　gallery,　and　only　10　sensor　nodes　closest　to　the　wireless　signal　transmission　source　are　activated　for　each　measurement,　which　avoids　the　poor　long-distance　measurement　effect　of　the　sensor,　ensures　sufficient　accuracy,　and　reduces　calculation　costs.　A　wireless　positioning　simulation　test　was　conducted　in　an　experimental　transmission　corridor　environment.　The　error　of　the　simulation　results　is　equivalent　to　the　measurement　error　of　a　single　sensor,　and　the　error　is　not　accumulated　in　the　calculation　of　the　algorithm,　indicating　that　the　algorithm　has　achieved　good　results.　©　2023　Institute　of　Physics　Publishing.　All　rights　reserved.