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Target node positioning is achieved for a wireless sensor network (WSN) with multiple sensor nodes. This issue has been a hot topic for many scholars. The use of anchor node cooperation, i.e. the use of the arrival time and arrival time difference between the primary and secondary nodes to determine the target node position is the most recent proposed method. Due to the problem of clock skew, this basic cooperative method has a large error in the actual indoor environment. Therefore, a rapid cooperative positioning method that can reduce the clock drift to the actual indoor environment is proposed here.