关键词: 非视距, 三维定位, 最小二乘法, 残差加权法

Abstract: TOA（Time of Arrival） ranging method is generally used for locating the nodes on 3D surface to obtain higher accuracy, while the Non-Line-of-Sight（NLOS） propagation phenomenon will cause larger positive error of TOA ranging value. A discriminant algorithm is proposed to identify the anchor nodes with larger NLOS error and screen out the anchor nodes to be used for node localization, and then the final location can be estimated with the residual weighting algorithm. Compared with the least square method and the Residual Weighting Algorithm（Rwgh）, the proposed algorithm can effectively reduce the influence of NLOS error and has higher positioning accuracy.

Key words: Non-Line-of-Sight（NLOS）, three dimensional localization, least square method, Residual Weighting Algorithm（Rwgh）