To address inaccurate positioning caused by non-line-of-sight ( NLOS) and multipath effects, we propose an enhanced cooperative ultra-wideband (UWB) positioning algorithm based on the full-centroid-Taylor approach. In scenarios involving three or more positioning base stations, the stations are grouped into sets of three. For each group, ranging data is initially processed using the bilateral bi-directional method, and positioning coordinates are then estimated using the full-centroid algorithm. The coordinates of the ‘pseudocentroid’ point are subsequently optimized using a simulated annealing algorithm. This optimized result serves as the initial value for a Taylor series expansion, which provides a refined initial estimate. Particle filtering is then applied using this refined value to obtain precise positioning coordinates during carrier movement. Simulation and experimental results indicate that, compared to traditional UWB positioning algorithms based on Chan-Taylor and WLS-Taylor methods, the proposed algorithm significantly improves positioning accuracy in both static and dynamic scenarios. Furthermore, the application of particle filtering enhances positioning accuracy in complex environments, demonstrating the robustness of the algorithm.