Abstract: Self-localization issue for acoustic array network is studied,and three maximum likelihood self-localization mechanisms are proposed based on mobile beacon and DOA(direction of arrival):BML(Basic Maximum Likelihood estimation), PCML(propagation compensated ML) and RML(recalculation ML).The impact of propagation delay is studied, and PCML and RML are adopted to compensate the impact.Factors impacting the self-localization precision and the computational complexity of our proposed self-localization mechanisms are discussed in details,such as velocity of the beacon, DOA error and beacon interval.Simulation and experiment results show that location and orientation information of acoustic array node are well estimated through the three mechanisms with different positioning accuracies and computational complexities.