A method of determining whether a Doppler effect exists, comprising: an obtainment step of obtaining inertial sensor data of each of first and second mobile nodes, wherein, the first mobile node receives a first signal, the second mobile node sends the first signal, and the first signal has a sending frequency; and a determination step of determining, by utilizing the inertial sensor data of each of the first and second mobile nodes, whether the Doppler effect exists between the first and second mobile nodes, characterized in that by utilizing the inertial sensor data of each of the first and second mobile nodes, projecting a moving velocity of the first mobile node onto a straight line along a moving direction of the second mobile node; if the projected moving direction of the first mobile node is the same as the moving direction of the second mobile node, determining that the Doppler effect does not exist; if the projected moving direction of the first mobile node is opposite to the moving direction of the second mobile node, determining that the Doppler effect exist; estimating, based on sending times of plural first signals and their corresponding second signals sent by the second mobile node in a predetermined time period as well as receipt times of the plural first signals and their corresponding second signals at the first mobile node in the predetermined time period, a distance change between the first and second mobile nodes in the predetermined time period by utilizing a TDOA algorithm, wherein, a propagation velocity of each of the plural first signals is less than that of the corresponding second signal, and the sending time of each of the plural first signals is the same as the sending time of the corresponding second signal; in the TDOA algorithm, two kinds of signals having different propagation velocities are be used to calculate or measure the distance between sending and receipt nodes on the basis of the propagation time between the two nodes, if the distance change is increased, then determining that the Doppler effect is a depart-each other one; and if the distance change is decreased, then determining that the Doppler effect is an approach-each other one. an obtainment step of obtaining inertial sensor data of each of first and second mobile nodes, wherein, the first mobile node receives a first signal, the second mobile node sends the first signal, and the first signal has a sending frequency; and a determination step of determining, by utilizing the inertial sensor data of each of the first and second mobile nodes, whether the Doppler effect exists between the first and second mobile nodes, characterized in that by utilizing the inertial sensor data of each of the first and second mobile nodes, projecting a moving velocity of the first mobile node onto a straight line along a moving direction of the second mobile node; if the projected moving direction of the first mobile node is the same as the moving direction of the second mobile node, determining that the Doppler effect does not exist; if the projected moving direction of the first mobile node is opposite to the moving direction of the second mobile node, determining that the Doppler effect exist; estimating, based on sending times of plural first signals and their corresponding second signals sent by the second mobile node in a predetermined time period as well as receipt times of the plural first signals and their corresponding second signals at the first mobile node in the predetermined time period, a distance change between the first and second mobile nodes in the predetermined time period by utilizing a TDOA algorithm, wherein, a propagation velocity of each of the plural first signals is less than that of the corresponding second signal, and the sending time of each of the plural first signals is the same as the sending time of the corresponding second signal; in the TDOA algorithm, two kinds of signals having different propagation velocities are be used to calculate or measure the distance between sending and receipt nodes on the basis of the propagation time between the two nodes, if the distance change is increased, then determining that the Doppler effect is a depart-each other one; and if the distance change is decreased, then determining that the Doppler effect is an approach-each other one.