Aiming at the issue of localization for mobile nodes in hybrid Line-Of-Sight/Non-Line-Of-Sight(LOS/NLOS) environments, a large-scale network node localization scheme based on Time-of-Arrival(ToA) measurements and error mitigation is proposed. Firstly, nodes equipped with Ultra-Wide Band(UWB) radio move randomly for collecting ToA measurements, and the shortest path selection algorithm is conducted to obtain the multi-hop node distance including the one-hop node distance with NLOS error mitigation. Then, the initial node positions are determined by using Multi-Dimensional Scaling(MDS). Finally, unlocalized node positions are obtained by the combination of iterative trilateration and error accumulation management. The simulation results show that the location accuracy of the proposed location scheme is superior to that of other common schemes.