Precise ranging is crucial for the intelligent perception system under the cloud-edge collaborative architecture, especially in large-scale sensor networks with limited energy. In the deployment of large-scale sensor networks, the millimeter-level ranging of UWB technology is limited by cost and power consumption and is not suitable for use. This paper first analyzes the systematic and random influencing factors of the time-based ranging method. According to the law of large numbers, its superposition effect follows a normal distribution. Based on the TWR algorithm, an M-TWR strategy using multiple round trips for measurement is proposed. The simulation results show that the ranging error gradually decreases and tends to be stable with the increase of the number of round trips. This study analyzed the variation of ranging errors under different experimental parameters, providing a reference for the power control of wireless sensor networks.