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In this paper a two step method based on Gauss-Newton and factor graphs algorithm is proposed for localization to enhance accuracy of localization. The Gauss-Newton algorithm is accurate method for positioning. The most important challenge of this method is senility to initial point; this problem is solved in positioning based on factor graphs. So, in this paper, first positioning equations using angle of arrival is considered based on factor graphs algorithm. Second, final location estimation is performed using Gauss Newton algorithm with error near to Cramer-Rao bound. Simulation results shows that positioning error using two step method has maximum 6% gap to Cramer-Rao Bound.