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Mobile node localization is one of the key issues in wireless sensor networks. This paper proposes a localization algorithm by using Monte Carlo methods. The algorithm assists nodes to locate with the help of estimate information of motion mode established forehand. What's more, the algorithm could adapt to different motion state of mobile nodes, uses the distance between the samples and the beacon nodes to calculate the weights of every samples. The simulation results show the algorithm breaks the limitation that at least three beacon nodes are needed for localization to some extent, improving the localization accuracy and having string robustness.