A novel wireless positioning method is proposed based on joint Time of arrival-direction of arrival (TOA-DOA) estimation to substantially reduce the computational burden of typical high accuracy algorithm——Joint angle and delay estimation multiple siginal classification (JADE-MUSIC). This method first separates the processed signal vector to estimate TOA and DOA to reduce the size of the signal covariance matrix. Thus the eigenvalue decomposition complexity is reduced. It applies DFT to simplify the pseudo-spectrum computation and utilizes pseudo-spectrum summation to enhance estimation accuracy. Target positioning can be realized fast and accurately via only one base station. Theoretical analysis shows that this method is of much lower complexity, Matlab simulation results prove that this method achieves high estimation accuracy and good positioning capability.