In this work, a time-of-arrival/time-difference-of-arrival (TOA/TDOA) hybrid relative positioning system based on UWB-IR technology is developed. The system reduces both the complexity of system configuration and the number of wireless transmissions in a positioning sequence. The system performance over various distances between access points is verified by computer simulations and experiments under the assumption that the distance between the access points is less than that between the access point and the target node. For the experiments, the proposed system is implemented with in-house developed UWB transceivers. The experiments confirm that the developed TOA/TDOA hybrid system can detect the relative positions of target nodes (under the condition of two access points 4m apart) with a measured-angle accuracy of 8.6 degrees.