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Wireless sensor network (WSN) is widely used recently and sensor location plays a critical role in WSN such as medical care field. Although GPS receiver on every sensor node can locate successfully, it is costly. In the past, a number of location discovery schemes have been proposed. Most of these schemes are designed without considering the characteristics of nodes in real environment. This paper analyzes the radio model and measurement error model of physical nodes, based on which a localization algorithm is proposed. The simulated annealing is introduced to improve the location accuracy. Simulation and practical results demonstrate its feasibility.