In order to realize the autonomous positioning of wheeled robots, the autonomous localization method of robot based on gyroscope and encoder is researched, and an autonomous positioning robot system based on gyroscope and encoder is designed and realized. The layout installation mode, autonomous localization method and calibration, and the initialization process were studied. Selection the GYROCHIP II gyroscope and the 2RMHF encoder, verify the robot system by made 1:1 physical robot platform. Robot experimental results show that the system can achieve high-precision autonomous positioning in a short time.