Abstract: To improve the relative positioning precision of wireless sensor networks(WSN) affected by environment perturbing,this paper proposes a joint space-time constraints based relative positioning method(STRP).Firstly,the state equation in cooperative mission of WSN is presented.Secondly,space-domain geometric constraint equations of WSN are introduced according to correlation assumption of maneuvering topography.Finally,the geometric constraint equations are combined with strong tracking filter(STF) in time-domain by Lagrange multipliers to improve the positioning performance of WSN in perturbing environment.The results of Monte Carlo simulation demonstrate that the STRP techniques reduces the influence of perturbing environment and increases the positioning precision of antomated navigation by 36% compared with conventional STF.