The invention discloses a positioning method in a mixed
sight distance and non-
sight-distance environment based on received
signal strength. The positioning method comprises the following steps: constructing a model for the
signal intensity of a measurement
signal received by a receiving sensor; converting the model by introducing balance parameters of extra loss caused by non-line-of-
sight errorsso as to obtain a corresponding first-order Taylor expansion expression and a corresponding first-order Taylor simplification expression; constructing a robust weighted least square problem accordingto the first-order Taylor simplified expression; utilizing an approximate relation, an upper
mirror image method and an S-Lemma theorem, introducing an error upper bound of extra loss, and convertingthe error upper bound into a robust weighted least square simplification problem; converting a robust weighted least square simplification problem into a positive semidefinite
programming problem byusing a convex relaxation method; and solving the positive semidefinite
programming problem to obtain an estimated value of the coordinate position of the target source. The method has the advantagesthat the problem that non-line-of-sight errors exist in the measurement environment can be solved, and therefore, the positioning precision can be improved.