The invention relates to a safe positioning method of a
wireless sensor network, comprising three stages, namely a doubtful node recognition stage, a malicious node isolation stage and a node position safety calculation stage, wherein in the doubtful node recognition stage, anchor nodes are cooperated mutually, broadcast information packets in a hopping communication range, detect doubtful nodes according to whether the information packets are abnormal, and
record ID (identification) information of corresponding doubtful nodes; in the malicious node isolation stage, the anchor nodes report the ID information of the doubtful nodes to a
base station which is carried out safety level area division on the
wireless sensor network and isolated malicious nodes; and in the node position safety calculation stage, as for the main anchor node and the auxiliary anchor nodes in areas with higher safety level preferably, the calculation of sensor nodes is finished by a passive positioning algorithmbased on
time difference. In the safe positioning method, the malicious nodes are effectively detected and isolated, the influence of the malicious
attack to the positioning process is reduced, the positioning accuracy is improved, the
energy consumption for positioning is saved and the life cycle of the network is prolonged.