The invention, which relates to the technical field of wireless sensor positioning, provides a node positioning method based on an initial state and a moving state of a mobile node in a wireless sensor network (WSN). The method comprises an initial-state positioning part and a mobile-state positioning part. In the initial-state positioning part, a to-be-located node broadcasts an RF signal and a US signal to a beacon node in a network; according to the beacon node, an information group number is returned; with utilization of a trilateration method, a node coordinate calculation method introducing a correction value, and a multi-signal-based positioning algorithm, an initial coordinate is calculated and is recorded; an initial speed, an accelerated speed, and a moving direction of the motion of a node are set manually and mobile-state positioning is started; after a positioning node moves randomly, own information is broadcasted and the number of neighbor beacon nodes is collected; thenumber of neighbor beacon nodes is determined; and according to a mobile node positioning method based on historical states, final positioning of the mobile node is realized. According to the invention, the positioning error is suppressed effectively in an indoor non-line-of-sight environment; the positioning success rate is increased; and high positioning applicability is improved.