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The positional estimate system which is represented in GPS is applied from the convenience to various fields, and to be used as a navigation system for pedestrians in recent years. However, GPS has a weak point that it is not possible to use in indoors such as underground stations, buildings, etc. This is because GPS needs a radio wave from GPS space satellites. To tackle this subject, a lot of method with RFID and radio wave of wireless LAN is proposed. Those systems have a large error of accuracy about position estimation. Thus, to supplement the estimating error margin of the radio base methods, we propose a hybrid indoor positioning system that uses a wireless adhoc communication and two dimension marker for the position and direction estimation in this research. To verify the effectiveness of proposed methods by simulations, it was clarified to be able to improve the positional estimation accuracy by using two dimension markers and ad hoc communication.