An anchor-free localization algorithm in wireless sensor networks is presented. Using nodes clustering and direction cooperation,the algorithm adjusts nodes’directions and coordinates with angle and range measurement to compute all nodes’ relative coordinates. Simulation results show that the network coverage,localization error rate and communication expense of the algorithm are better than clustering-based self-positioning algorithm.%给出一种无线传感器网络中无锚节点情况下的节点间相互协同定位的算法。它首先将节点进行分簇，把角度测量和距离测量结合起来，通过方位协同，逐步对同步中的节点进行方位调整和坐标调整，从而计算出所有节点的相对坐标。仿真结果表明，在节点随机分布的情况下，该算法比起业界公认的聚类SPA算法在网络覆盖率、定位误差率和通信开销3个方面都有更好的表现。
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