Ultra-wideband (UWB) positioning system has gained much attention in the field of indoor localization due to its various advantages. The narrow pulse nature of UWB signal results in a very large bandwidth which enables high resolution positioning, low loss penetration, and low cost. However, practically, the low transmit power severely restrains the transmission range of UWB signal so that it is only suitable for short-range accurate ranging. Therefore, a novel hybrid UWB-Doppler system was proposed by using a fixed UWB positioning system monitored region to calibrate the accumulated error of a Doppler-gyroscope trajectory-tracking system. In this paper, we present improved indoor localization performance using the hybrid UWB-Doppler system employing the Kalman Filter. Experiments were conducted in a large complex indoor environment to further demonstrate the feasibility of the proposed indoor localization method.