This paper presents a cooperative localization approach for mobile nodes using wireless and ranging devices. We consider scenarios where node mobility follows stop-and-go behavior; we can then utilize the different movement states of nodes as an input to our localization approach. In the proposed method, each node autonomously finds among its surrounding nodes the ones that do not seem to move, and treats them as static nodes. Only nodes that are deemed static are then used as reference points for position estimation. Furthermore, each node adjusts its localization frequency automatically according to its estimated velocity. Performance evaluation results based on a realistic sensor model and actual mobility traces show that our method could achieve sufficient accuracy and efficiency for an exhibition scenario where people need to be tracked.