The attack resistant-time difference of arrival(AR-TDOA) was put forward by using grouping information method in the positioning process,with the selection standard of positioning reference that the unbiased estimation variance according to the error assumption.By comparing the TDOA localization algorithm with the SeRLoc safety localization algorithm on positioning error,computing cost and stability,the results show that the sequence of their positioning error is TDOASeRLocAR-TDOA under the same attack strength.The greater the number of anchor node is,the larger positioning errors of both TDOA localization algorithm and SeRLoc safety localization algorithm are,while the AR-TDOA algorithm could keep the positioning error within a smaller range.Accordingly the AR-TDOA algorithm can improve the stability of positioning with a little increase in computing complexity.