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As one of the core technologies of the Internet of Things, wireless sensor network technology is widely used in indoor localization systems. Considering that sensors can be deployed to non-line-of-sight (NLOS) environments to collect information, wireless sensor network technology is used to locate positions in complex NLOS environments to meet the growing positioning needs of people. In this paper, we propose a novel time of arrival (TOA)-based localization scheme. We regard the line-of-sight (LOS) environment and non-line-of-sight environment in wireless positioning as a Markov process with two interactive models. In the NLOS model, we propose a modified probabilistic data association (MPDA) algorithm to reduce the NLOS errors in position estimation. After the NLOS recognition, if the number of correct positions is zero continuously, it will lead to inaccurate localization. In this paper, the NLOS tracer method is proposed to solve this problem to improve the robustness of the probabilistic data association algorithm. The simulation and experimental results show that the proposed algorithm can mitigate the influence of NLOS errors and achieve a higher localization accuracy when compared with the existing methods. [ABSTRACT FROM AUTHOR]