Aiming at target intruding into wireless sensor networks（ WSNs）

a method of positioning and tracking is proposed based on combination of mobile nodes and static nodes. Static nodes can find the target intruding into sensor network

the mobile nodes and the static nodes will determine the specific location of the target further. The simulation results show that the method can reduce the mobility of the nodes in large scale

also it does not need too much complex calculation on selection and motion of the mobile nodes

it has better localization precision and robustness and has certain help for multitarget localization and tracking research.