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）

摘要： 采用精度较高的TOA测距方法对位于三维表面的节点进行定位时，非视距传播现象会造成测距值出现较大的正向误差。针对非视距误差提出一种判别算法，对参与定位的锚节点进行筛选，剔除掉非视距误差较大的锚节点，再用残差加权算法进行最终的位置估计。与最小二乘法和残差加权法相比，能够有效地减小非视距误差的影响，具有更高的定位精度。

关键词: 非视距, 三维定位, 最小二乘法, 残差加权法