常用的节点定位方法通常要求较多的信标节点，因此容易造成资源浪费。提出一种基于目标跟踪的移动信标辅助节点定位算法，信标节点在移动过程中周期性地发布自身位置信息，未知节点首先获取自身位置的近似估计，然后再利用无迹卡尔曼滤波(UKF)方法对移动信标进行跟踪，并完成进一步位置求精。在该算法中，未知节点之间无需相互通信，降低了能量消耗，且计算量不大，同时满足非线性条件，适用于户外部署的大规模传感器网络。实验结果表明，在参数取值合理的条件下，本文的方法能够有效提高节点的定位精度。

The commonly used node locating schemes need a lot of beacons so they are resource wasted. We proposed a mobile beacon assisted node locating scheme based on target tracking. The mobile beacon could promulgate its location information periodically during its movement. Rough location of the node was obtained, and then, the accurate location was achieved when tracking the mobile beacon by Unscented Kalman Filter (UKF) algorithm. In the scheme, nodes do not communicate with each other so that the energy consummation is depressed with a moderate computation cost. The scheme is also adaptive to non-linear condition, and thus can be used for large-scale wireless sensor networks deployed outdoors. Simulation results show that the scheme performs well under reasonable parameters.