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Based on the need of accurately measuring the orientation of the target and quickly implementing rescue, the combined technology of radio beacon, electronic magnetic compass and satellite navigation is adopted, an outdoor search and rescue guidance system is designed, which integrates the functions of omni-directional transmitting of beacon signal at transmitter, directional receiving of beacon signal at receiver, digital acoustic spectrum processing, jamming outliers elimination, precise bearing measurement of beacon, and rough estimation of beacon distance. A method of target position estimation based on beacon guidance is studied and analyzed. The method receives the acoustic pulse signal transmitted by the beacon at the cooperative target and performs FFT transform, by analyzing the characteristic parameters of the spectrum, the azimuth of the target can be measured accurately and the distance of the target can be estimated roughly, the need for rapid detection, search and rescue, and remote surveillance of cooperative targets.