The TDOA/AOA location algorithms based on the Chans algorithm add an AOA error equation on the group of TDOA error equations in the Chans algorithm and resolve these equations by the WLS method. But they assume the abscissa, the ordinate of the MS and the distance between the MS and the severing BS are three independent variables neglecting their correlation. And then operate the WLS method twice with each root has two values. The location error increases according with the increment of the variance of the measurement error of AOA. The proposed algorithm estimates AOA by Kalman filter and simplifies the mentioned three variables into one. So it can get the only root by using the WLS method once and eliminate the ambiguity. The result of simulation proves its simplification, less calculating amount, better location accuracy and robustness.