The common locating algorithm used for wireless sensor is unstable and has many errors, so a more accurate locating algorithm is presented. This algorithm uses DV-HOP algorithm which based on non-ranging to locate initial position, and then uses the LS-Kalman algorithm to cycle refinement. 2D and 3D nodes are compared by MATLAB simulation software. The result indicates that this algorithm has the characteristic of quicker 3D locating convergence, higher accuracy and simple algorithm.