  Current single dish, low-frequency radio pulsar surveys provide efficient sky
coverage, but poor localization of new discoveries. Here, we describe a
practical technique for rapidly localizing pulsars discovered in these surveys
with on-the-fly mapping and provide code to facilitate and formalize its
implementation. As a proof of concept, we alter the positions of four test
sources and use the Green Bank Telescope (GBT) 350 MHz receiver to recover
source positions within $\approx$1$-$3' of their true values, compared to an
18' error radius for new discoveries. Achieving similar precision with a
traditional gridding strategy using the GBT requires 2$-$3 times as much
telescope time (including overhead), multiple receivers and relies on
assumptions about the pulsars' spectral indices. For one of our test sources
(PSR J1400$-$1431), this method revealed a discrepancy with the initial,
published position, prompting additional follow-up and an improved timing
solution. Rapid localization is important for improving data quality and
providing flexibility in choice of center frequency for future timing
observations - both of which facilitate evaluating new millisecond pulsars for
potential inclusion in pulsar timing arrays.
