You are using DWM1001 so there is a full positioning system available for that. Start with the firmware user guide found here: DWM1001C - Qorvo
If that firmware doesn’t do what you want then the SDK includes examples of how to get a range measurements. With 3 range measurements and a bit of trigonometry you can get a position. However building a full positioning system from scratch is a big task, the basic theory isn’t too hard but the implementation details to get a reliable and accurate system can get complicated.