Vehicle-road cooperative perception system can greatly improve the perception ability of intelligent vehicles by making use of perception information from road side units (RSU). This paper focuses on the target positioning of static camera for vehicle-road cooperation. A low-cost camera calibration method is proposed to complete the accurate mapping between the image plane and the 3D world space. Precise location of interested targets are achieved by an efficient tracking strategy. Real test scenarios show that our algorithm can effectively locate vehicles, pedestrians, non-motor vehicles and other targets with high accuracy. Our algorithm won the Monocular Static Camera Positioning and Ranging Competition for Autonomous Driving championship in 2019.