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Traditional wireless sensor network (WSN) localization research only focused on heterogeneity of the beacons (nodes with known locations) and unknown nodes (nodes with unknown locations). But in practical application, except for heterogeneity of the beacons and unknown nodes, heterogeneity exists in both beacons in-group and unknown nodes in-group. In view of this, this paper presents a hybrid localization algorithm. The hybrid localization algorithm can make the best of network resources. Simulation results show that compared with the traditional WSN localization algorithms, the hybrid localization algorithm has the superiorities of accuracy and the rate of beacons in heterogeneous WSNs.