The invention discloses an indoor Internet of Things multi-target wireless charging system and a positioning and charging method thereof, the system comprises a charging unit, a charging terminal anda plurality of charging edge modules, and the charging edge modules are distributed by taking the charging terminal as the center; the charging terminal, the charging edge modules and the charging units are in communication connection, the charging terminal comprises a terminal charging probe, a terminal processor, an ultra-wideband communication module, a charging light source, a power divider and an optical fiber, and each charging edge module comprises an edge charging probe, a charging edge processor, an ultra-wideband communication module, an optical switch, an optical fiber and the like.According to the invention, the optical fiber light path is designed and the edge charging module is arranged around the charging terminal; the problems of difficulty in node charging, dead zone of infrared charging and the like of the existing Internet of Things are solved, the functions of multi-target zero-dead-angle wireless charging, mobile charging unit charging, quick charging, multi-anglecharging and the like can be realized, the charging modes are diversified, the charging continuity is good, the positioning speed is high, and the precision is high.