An NLOS transmission base station identification and positioning method based on angle residual error comprises the following steps: firstly, N base stations need to be grouped in pairs, after the number of groups is set, a calculation angle value is obtained by utilizing the cosine law according to obtained TOA and AOA estimated values, then a difference value between the calculation angle value and a measured AOA value is obtained, the difference value is taken as the angle residual error, and an angle threshold value is obtained at the same time; and the NLOS transmission base station and the LOS transmission base station can be identified by comparing the residual error and the threshold, finally, the position of the MS is estimated by using the parameter measurement value of the LOS transmission base station, and the estimation algorithm adopts a two-step weighted least square algorithm. According to the NLOS transmission base station identification and positioning method based on the angle residual error, errors are effectively reduced, and the positioning precision is improved.