Aiming at the problem that traditional and various improved 3D-DVHop algorithms have large positioning errors for unknown nodes and do not substantially reduce the positioning cost, a 3D-DVHop-ACR localization algorithm based on virtual force moving anchor nodes is proposed. The algorithm introduces virtual force moving anchor nodes, which can reduce the positioning cost while enabling the anchor node moving path to traverse the entire network space and not enter the network void area. RSSI value assisted ranging and three-dimensional hop distance weighting are used to correct the hop number and hop distance between nodes. All anchor node positioning errors are used to correct the estimated coordinates of each unknown node. Combined with the maximum likelihood estimation method, nodes with neighbor nodes of not less than 3 are further refined to further reduce positioning error.