A method to identify the high-resolution full modal shapes of the bridge with a limited number of sensors is proposed. Then the high-resolution dynamic fingerprint parameter， enhanced coordinate modal assurance criteria （ECOMAC）， of the whole bridge can be obtained， so as to achieve the purpose of damage localization. In this method， the displacement responses measured by a limited number of sensors on the bridge under a moving vehicle load are analyzed by proper orthogonal decomposition， leading to obtaining the principal component matrix. The high-resolution modal shapes can be obtained by using the low-pass filter on the principal component matrix. Then the high-resolution enhanced coordinate modal assurance criterion can be obtained by using the identified high-resolution modal shapes， which can be used as the damage index for damage localization. In order to verify the effectiveness of the method， a simple beam bridge is simulated and test in the lab. The numerical and experimental results show that the damage can be identified with the proposed method.