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Abstract-Aimed at solving the problem of local divergence and low data accuracy, this paper introduces a new Time Difference of Arrival(TDOA)-based localization algorithm (TBL) for the large-scale, high-density wireless sensor networks which are designed for real-time surveillance and unexpected incidents management. In particular, several means to improve the accuracy of distance measurement are investigated, and the TDOA method, based on the sound wave and electromagnetic wave to locate in the large-scale WSN, is discussed. Also, the well-designed circular location process has the advantage of better positioning accuracy and coverage percentage. Simulation results have confirmed the effectiveness of the formed TBL algorithm.