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This paper describes a localization algorithm necessary for building small-sized network's position reporting system using wireless sensor network. In existing sensor networks, much of the localization algorithm is devoted to making position estimations by learning a minimum of 3 position values of anchor node that's aware of absolute position value under the environment where sensor nodes are fixed. The proposed algorithm has an indefinite traveling direction and has shown in performance analysis that it is possible to estimate positions even with a small number of anchors. Also, by using the implemented board, although practicality has been proven with implementation of realistic distance measurement through distance measurement using RSSI (Received Signal Strength Indication) and traveling distance measurement using acceleration sensor.