Mobile wireless sensors need to know their locations in many control and monitoring applications.A novel localization algorithm based on Location and Attitude Estimation(LAE)for mobile sensor nodes that can acquire the velocity information is proposed in this paper.Firstly

the relative localization track(RLT)

which reflects the shape of true track

is obtained using the velocity information.Then the cumulative error of RLT is corrected while the global optimum solution is obtained by minimizing the difference between RLT and radio localization track.Finally

a more accurate localization result presents itself from the corrected RLT.Simulation results show the performances of our methods in term of accuracy and determinate the parameter the more adapted related to the network configurations.