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Aiming at the problem of target location using ultra-wideband technology, a locating scheme, where the direct estimation of target location and its improved soft two-step method is implemented, is proposed. Firstly, by analyzing the ultra-wideband signal model and the principle of typical two-step locating scheme based on time of arrival(ToA), a scheme to directly estimate the location of target nodes using a set of measurements or a set of possible ToAs estimators is proposed. In order to eliminate the ambiguity and strong multipath components in the threshold selection of that scheme , a locating scheme based on multi-ToAs is proposed to realize the tracking and locating of target nodes. The simulation results show that,compared with the typical two-step locating scheme, the proposed locating scheme has higher tracking ability and smaller cumulative distribution function of locating errors in both line-of-sight and non-line-of-sight scenarios.