As the complexity of indoor environments increases, the impact of positioning errors on non line of sight situations gradually increases. A joint extended Kalman filtering method based on arrival time and arrival angle is proposed to address the problem of low positioning accuracy of single base stations in existing non line of sight environments. This method will combine the discarded measurement method of threshold judgment to determine whether to retain measurement values and the overall offset method through Kalman gain correction, and use two dimensional observation values for extended Kalman filtering to track and locate. The simulation results show that compared with the traditional two-dimensional extended Kalman filtering method, our method improves the positioning accuracy by approximately 51.2%; Compared with the discard measurement method and the overall offset method, the accuracy of our algorithm has improved by about 23.5% and 45.7%, respectively.