Abstract: Aiming at the specialties of the large building complex environment indoor positioning, the basic algorithm model of various wireless indoor positioning system was analyzed, and the realization method of several typical wireless indoor positioning system and its advantages and disadvantages were analyzed, in order to overcome the limitations of the mobile terminal in separatly positioning by using WLAN or WSN, and to realize accurate positioning navigation. Several indoor positioning researches both in and abroad in recent years were showed. The key problems of heterogeneous network based on WLAN and WSN in the study of collaborative localization algorithm were summarized. According to terminal location environment, the searching of WLAN and WSN at the same time and the improved network fusion localization algorithm were pointed out. A good foundation for the further research was made. On this basis, the research prospect of colocation method was also discussed.