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Position information of individual node is very useful in wireless sensor network(WSN). In this paper, we proposed two improved DV-Hop algorithms and integrated them reasonably into a self-adaptive positioning algorithm called SAP which includes two modes. Rough-precision mode uses DV-Hop I algorithm and high-precision mode uses DV-Hop II algorithm. In SAP, the first mode saves the energy consumption, the second mode which use RSSI to measure distances between nodes is enabled when target incidents happen, so the algorithm strikes a good balance between positioning accuracy and energy consumption. The simulation results demonstrate that SAP is more efficient in precision and robust than DV-Hop.