Safe positioning method for wireless sensor

The invention discloses a safe positioning method for a wireless sensor; the safe positioning method adopts two safe positioning methods which are the malicious beacon detection based on the checkpoint and the malicious beacon detection algorithm based on the regional voting mechanism to solve the positioning safety problem of the sensor network nodes. The positioning method improves the anti-attack capability of the system through filtering the malicious beacons directly so that not only the known attacks can be defended, but also the unknown attacks can be defended; the corresponding defending measurement for every possible specific attack is avoided; the implementation of the safety strategy of the positioning system is simplified; the two detection methods are combined effectively to adjust the defending strategy automatically according to the attack types; the safe positioning is guaranteed and the computation cost is reduced effectively; the neighbor communication authentication technique based on the unidirectional key chain is adopted to avoid the support of other network safety protocols so that the storage cost of the sensor nodes is reduced; the neighbor communication authentication technique can be compatible and used together with the present wireless sensor network protocol; the safety target of the positioning system of the sensor network nodes is realized.