The non-line-of-sight(NLOS)error significantly reduces the accuracy of trilateration algorithm in wireless networks.Therefore,by considering the wireless sensor network including both the static nodes(SN)and the mobile nodes(MN),this paper proposes a localization algorithm aiming at the area residual minimization,where the NLOS corrupted localization is modeled as a quadratic programming(QP)problem.Moreover,the Heron formula is employed to construct the area residual and therefore the cost function of QP.Th...