Abstract: A key obstacle to high accuracy location is the Non Line Of Sight（NLOS） transmission of signal in wireless sensor network node localization.NLOS error is the main source of location error.This paper proposes a new residual test location algorithm which is based on the AML estimation and the Distant Residual Test（DRT） based on analysis of NLOS error mitigation techniques using Position Residual Test（PRT）.This algorithm gradually reduces the number of range measurements from the combinations，picking out the combinations of range measurements with the minimum residual at every step，and then calculating the node position.It demonstrates that the performance of DRT is close to PRT and it can reduce the computation complexity of PRT through the analysis and simulation.The superiority of the proposed method is proved.

Key words: Wireless Sensor Network（WSN）, Non Line Of Sight（NLOS） transmission, Approximate Maximum Likelihood（AML） estimation, Residual Test（RT）

摘要： 在无线传感器网络定位中，节点精确定位面临的一个主要问题是信号的非视距传播，非视距误差是节点定位误差的主要来源。在分析基于位置残差检测的非视距误差抑制技术的基础上，提出了基于近似最大似然估计技术和残差检测技术的非视距定位算法。算法通过逐步减少视距信号个数的组合方式，在每一步选取残差最小的组合，利用改进的距离残差定位方法进行节点定位。通过理论分析与仿真比较，均表明改进算法的性能接近于PRT算法的性能，但能大大降低PRT算法的计算复杂度，验证了改进方法的优越性。

关键词: 无线传感网络, 非视距传播, 近似最大似然估计, 残差检测