 This paper proposes a hybrid TDOA-slash-AOA algorithm based on the Crowsearch algorithm, CSAL, which has been optimized using Particle Swarm Optimization, PSO. The CSAL algorithm was developed to solve the problem of locating nodes in in-loas environments. It uses a combination of TDOA and AOA measurements to locate the nodes with higher accuracy. The algorithm's optimization mechanism was improved by modifying the fitness function based on maximum likelihood estimation, MLE, as well as adding an initial solution to the starting population. Simulations were conducted to compare the performance of this algorithm against other existing algorithms such as Taylor, Chon, PSO, CPSO, and basic CSA. The results showed that the proposed algorithm outperformed all other algorithms in terms of robustness, convergence speed, and node positioning accuracy. This article was authored by Li Chao, Heishao Chen, Yao Dian Chen, and others. We are article.tv. Links in the description below.