Abstract: The improvement of dead reckoning is presented. According to the movement trajectory and status of a mobile robot, a new kinematics model for the mobile robot is derived using coordinate transformation based on the turning radius and angle. And the turning radius and angle are obtained from the yawing angle information and the odometer information of the three wheels using fuzzy fusion technology. Combining the active beacon with improved dead reckoning, a new accurate positioning method for indoor mobile robot is proposed. The simulation shows that it has characteristics such as good performance in real time, high accuracy, low cost and good robustness. It is also suitable for rough ground.