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Regarding the tracking of moving target in the large-scale fixed scene, a new routing algorithm of LAODV in the principle of TOA localization is proposed. Then, the participation field of the fixed node based on the node location information is properly controlled, while the routing request area is reduced through combination of AODV and LAR during transmission of the location information. Simulation results show that the proposed algorithm renders satisfactory performance in terms of average delay reduction from end to end, packet loss rate, and routing overhead. As a result, the delay and system overhead during localization could be minimized.