For now the positioning algorithm is usually two-dimensional form. Based on the TDOA /AOA algorithm which is on the basis of extended Kalman filter, we derive the three-dimensional form of the algorithm. In this article, three quantities including azimuth, pitch angle, TDOA constructes a model that in line with the extended Kalman filter. Thus the three coordinate components can be obtained, and ultimately get the location of the mobile base station estimates. We simulated the tracking trajectory of the algorithm, and deduced the parameters Cramer-Rao Low Bound (CRLB).