A mechanism based on target assistance is proposed in this paper.This mechanism is mainly divided into two forms:static target assistance based self-localization mechanism and mobile target assistance based self-localization mechanism.The former,according to the measured DOA by nodes,first beacons through the pseudo-linear least square method to locate the static targets.Next,the unknown nodes are located by previously located static targets through BML.For the latter,BML,PCML and RML three algorithms are adopted in the self-localization and have been compared among themselves.From the MATLAB simulation results,the increasing the number of static targets contributes to an improvement of accuracy.PCML and RML can compensate the delay of sound propogation and increase the accuracy of localization when the target with a high speed.Finally,the feasibility of this mechanism is validated by experimental datas.