基于在传感器网络中基站能够测量未知节点(M)S发出的辐射到达不同基站的时间差和它们之间的相对角度,提出了一种基于TDOA/AOA混合三维定位算法,根据基站测得的到达时间差(TDOA)和到达角度(AOA),将两种信息进行融合,建立节点位置估计值的混合算法,得到三维空间内的无线传感器节点坐标.仿真结果表明:在AOA测量值精度比较高时,此种混合算法能够实现比其他算法更好的定位性能 Based on the fact that the base station can measure the time difference of arrival of radiation from unknown nodes (M) S to different base stations and the relative angle between them in the sensor network, a hybrid three-dimensional positioning algorithm based on TDOA / AOA is proposed. According to the arrival time difference (TDOA) and angle of arrival (AOA), the two kinds of information are fused and a hybrid algorithm of node position estimation is established to obtain the coordinates of the wireless sensor nodes in the three-dimensional space.The simulation results show that when the AOA measurement accuracy is relatively high, Hybrid algorithms can achieve better positioning performance than other algorithms