Combining angle measurement algorithm based on wave interference in two-dimensional space with positioning algorithm based on time difference of arrival, this study proposes a Wireless Sensor Networks localization algorithm for three-dimensional space. First, the algorithm measures the angle and distance of beacon nodes and test nodes, and then calculates the precise coordinates of the test node. The algorithm complexity is low, just needing at least three beacon nodes. As it uses distributed computing, so it has high positioning accuracy. Simulation results show that the algorithm can accurately calculate the position of the sensor nodes in three-dimensional space.