Location is important information in Vehicular Adhoc Network because most, if not all, applications will depend on accurate location information. In reality, the dynamics of vehicles makes the location information consistently changing. The existence of malicious attackers even makes the task of estimating accurate location more difficult. In this paper, we describe an efficient statistic method for estimating accurate location of vehicles in a noisy environment including malicious attackers and measurement errors. Given such noisy input, the algorithm estimates the high resolution location of a vehicle by filtering the malicious location input and by refining low resolution location input. We show results of simulations and evaluate the quality of location estimation as well.