A joint localization algorithm based on the threshold comparative weighted (TCW) Taylor series expansion is proposed to address the problem of low positioning accuracy caused by the non-line-of-sight propagation of wireless signals in complex indoor environments. First, the non-line-of-sight error in the measured value of the time of arrival (TOA) is eliminated in real-time by Kalman filter. Then, TCW is used to calculate the location of the target node in the location area determined by the smoothed TOA value and the angle of arrival (AOA) of the signal with measurement noise. The calculated result is taken as the initial value of Taylor series expansion. Finally, the iterative solution is carried out to achieve the second fine positioning. The simulation results demonstrate that compared with the traditional centroid-Taylor series expansion location algorithm and TOA/AOA hybrid location algorithm based on the least-squares method, the initial location results can be more accurate and closer to the Cramer-Rao lower bound by adding AOA constraints and assigning different dynamic weights to different locations.