Location of sensor plays a pivot role in WSNs.Most of the localization algorithms can achieve extremely high positioning accuracy in line of sight (LOS) environment.However

they are unable to obtain ideal accuracy due to the obstacles in non-line of sight (NLOS) environment.In order to solve the NLOS propagation problem in indoor environment

we propose an indoor localization method based on RTT and AOA using a lightweight grid-based clustering (LGBC) algorithm.The LGBC algorithm does not depend on any prior information of indoor environment and possesses significant flexibility.The simulation results show that LGBC algorithm has low time complexity and small computational overhead.Furthermore

it outperforms the other method by about 65 percent in terms of localization accuracy.