Aiming at problem that positioning precision of wireless sensor networks（WSNs） localization algorithm is not high

a new positioning method（WR-Centroid） based on RSSI ranging combined centroid algorithm with weighted centroid positioning algorithm is proposed.The algorithm mainly through RSSI ranging obtain the distance from four reference nodes to unknown node

and then optionally three distances as a radius corresponding to the reference node as the circle center to draw circle and get the overlapping region of three circles

form a triangle

the centroid of the triangle is obtained.In accordance with this method

four centroid coordinates is obtained

using weighted centroid localization algorithm to calculate the unknown node coordinates.Simulation results show that the precision of this algorithm is greatly improved than the weighted centroid localization algorithm.