Basic theory of three-dimensional（ 3D） orientation cross bearing is analyzed

aiming at problem of information redundancy in angle measurement

two algorithms are researched

GDOP figures is obtained by simulation. It is found that Taylor series method based on iteration has better position precision than the others when angular measurement and station distribution error are the same

but how to chose the initial iteration value is still a problem. So an algorithm based on iterative searching to obtain the optimal solution is presented

named adaptive weight particle swarm optimization algorithm

finally

the algorithm is simulated and analyzed carried out by setting different values of angle measurement error. Simulation results show that when angle measurement error is 0. 5°or 1 °

the PSO algorithm is more accurate than traditional algorithms in height estimation

at the same time

the new algorithm has better positioning precision

and has certain practical value.