A grid localization method using fusion of ultrasonic and radio frequency is proposed. Firstly

wireless signal strength is screened for coarse localization by compressed sensing model. Then

timing results of ultrasonic measurement are evaluated and weighted based on coarse localization results

to conquer effect of local NLo S environment. Further

fine localization is performed and weighted by evaluation of ultrasonic timing result by iteration algorithm

until the termination condition is reached. Test results show that the proposed method achieves better localization precision than classical CHAN algorithm

and better localization property is achieved in practical test.