I. Introduction
With the rapid increase of data services and multimedia services, people have increasing demands for positioning day by day. Especially in complex indoor environments, such as airport halls, supermarkets, libraries and underground parking lots, it is often necessary to determine the indoor position information of mobile terminals or mobile terminal holders, facilities and articles [1], [2], [3]. At present, most of positioning algorithms only focus on the research for wireless two-dimensional networks. However, in practical application, wireless network nodes may also be often in a three-dimensional environment. In these occasions, it is necessary to provide three-dimensional position information of the mobile terminals. At present, researchers have proposed many various indoor positioning solutions based on radio frequency identification.