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In this paper, we present a self-adaptive localization algorithm based on difference for the node localization in wireless sensor network. We first divide the sensing area into several small regions according to the density of unknown nodes. Then, we distribute the beacon nodes within the sensing area in a reasonable manner. The measured errors of estimated location in beacon nodes are considered as the adjusted values and are broadcasted to the adjacent unknown nodes. Based on the broadcasted adjusted values, the unknown nodes adjust their relative position information. The simulation results show that with the proposed algorithm the node localization errors can be reduced and the accuracy of localization is greatly increased.