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Position is one of the basic attributes of an object, which is one of the key technologies for its collaborative operation. As a distributed sensing method, wireless sensor networks (WSNs) have become a feasible solution especially in satellite signal denied environments. Considering that the node deployment is the basis of target positioning in WSNs, this paper first researches optimal deployment of wireless nodes, and then researches the optimal positioning of mobile targets. Based on the least squares equation, a feature matrix that can characterise the positioning error is derived so that the positioning error caused by wireless node deployment is minimised. Following that, the positioning results are refined by particle swarm optimisation, which makes the mobile target have a coarse to fine accuracy. The results indicate that the proposed algorithm can reduce the influence of network topology on positioning error, which is critical for some location-based applications.