In order to improve the positioning accuracy of wireless sensor networks, reducing network node energy consumption during positioning operation, a clustering-based wireless sensor network localization algorithm of multi-node Collaborative planning is proposed. The algorithm first made the network to be multiple clusters, then it calculated the relative distance between cluster nodes, to improve the accuracy of the positioning coordinates of nodes through collaborative planning approach. After getting the position coordinates of the node relative cluster head within the cluster, then it calculated position coordinates of the cluster head relative to the sink node, in order to achieve precise positioning of any node in the network. Simulation results show that the positioning algorithm of the weighted centroid-based and the reference node sequence, a clustering-based localization algorithm of multi-node Collaborative planning can get better positioning accuracy.