Wireless Charging Vehicle and Wireless Charging Method Thereof

An embodiment wireless charging vehicle includes a secondary charging pad configured to generate an induced current by a magnetic field generated to a primary charging pad of a wireless charging station and to charge a battery, a plurality of ultra-wideband (UWB) tags disposed to surround the vehicle, and a UWB controller configured to perform a wireless charging arrangement mode for arranging the secondary charging pad on the primary charging pad by using a sensor value measured by the UWB tags, wherein the UWB controller is configured to calculate a coordinate of the primary charging pad by using a line of sight (LOS) sensor value of a UWB tag having a line of sight from among the UWB tags.