In response to the imprecise localization of moving radiation sources in complex scenarios and issues related to the accuracy of the observation station's position and the geometric relationship with the target using the two stage weighted least squares(TSWLS) algorithm, we propose a passive radar centroid passive localization algorithm for moving targets based on Taylor expansion and the joint application of TSWLS. This method utilizes a TSWLS algorithm to determine the target's position and velocity. The obtained target parameters serve as initial values for Taylor expansion, constructing the positioning error equation. Through iterative optimization, the algorithm refines and solves for optimal target parameters. The proposed algorithm and TSWLS independently provide estimations, with the final result obtained through centroid localization. Simulation experiments show that, regardless of target speed, in comparison with traditional methods, the presented algorithm significantly improves robustness and positioning accuracy while reducing sensitivity to geometric relationships between the observation station and target.