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As with an increasing attention paid to the location-based service, wireless locating techniques grow rapidly. Due to its high precision and low energy consumption, the Ultra-Wide Band (UWB) locating technique is widely implemented in wireless locating systems. However, the environment significantly influences the signal propagation, leading to the severe impact on the locating precision, which restricts the application and promotion of this technique. To solve this problem, an optimised cluster algorithm is proposed with the aid of residual errors. Raw data is firstly reassigned into groups, and each group of data can be utilised to obtain the coordinates as well as the residual error. After filtering those with exceeded residual errors, remaining coordinates are processed by the clustering algorithm with residual errors considered. The wireless locating system with the introduced algorithm were approved by several engineering projects. Practical results illuminate that the precision can be improved to meet the engineering demands, which provides technical support for promoting wireless locating techniques.