In order to solve the problem of high-precise indoor positioning calculation using received signal strength, a novel WMKF (Kalman Filtering and Weighted Median) positioning algorithm was proposed. The algorithm was different from previous indoor localization algorithms. Firstly, Kalman filter method was used to smooth random error, and weighted median method was made to reduce the influence of gross error, then the log distance path loss model was used to obtain the decline curve and calculate the estimated distance. Finally, the centroid method was used to get the position of the target node. The experimental results show that, this WMKF algorithm initially improve that the poor stability of positioning in a relatively complex environment, and effectively enhanced the positioning accuracy, making the accuracy between 0.81m to 1m.