This paper presents a distributed, infrastructure-free positioning algorithm for mobile ad-hoc networks that does not rely on GPS. The algorithm uses the distances between nodes to build a relative coordinate system in which the node positions are computed in two dimensions. The main contribution is defining and computing relative positions of nodes in an ad-hoc network without using GPS. The algorithm, called the Self-Positioning Algorithm (SPA), uses range measurements between nodes to build a network coordinate system. The Time of Arrival (TOA) method is used to obtain the range between two mobile devices. Despite range measurement errors and node motion, the algorithm provides sufficient stability and location accuracy to support basic network functions. The algorithm allows nodes to determine their positions within the network area using only local information. It is particularly useful in scenarios where GPS is not available or is too weak (e.g., indoors) or when GPS is jammed. The algorithm can be applied to wide area ad-hoc networks and supports applications such as Location Aided Routing and Geodesic Packet Forwarding. In Geodesic Packet Forwarding, nodes use their relative positions to determine the direction to send packets to the destination. The paper describes the related work in radio-location techniques, the algorithm for building a local coordinate system, the means to define the center and direction of the network coordinate system, the influence of range errors on position estimation, and simulation results. The algorithm is designed to be robust to node mobility and environmental errors. It uses a Location Reference Group (LRG) to stabilize the network coordinate system's center and direction. The LRG is a set of stable nodes that help maintain the network's coordinate system. The algorithm is tested in simulations, showing that it can achieve accurate position estimates even with limited power range and node connectivity. The algorithm provides position information based on local processing and node views, without requiring centralized knowledge of the network topology. However, nodes do not know the physical direction of the coordinate system, making it difficult to associate the network coordinate system with the geographic coordinate system without GPS. The algorithm can be used for geodesic packet forwarding and location-dependent routing without GPS. Future work includes improving range measurement accuracy, enhancing center and direction stability, and extending the algorithm to three-dimensional models. The algorithm is tested in real-world applications to evaluate its performance.This paper presents a distributed, infrastructure-free positioning algorithm for mobile ad-hoc networks that does not rely on GPS. The algorithm uses the distances between nodes to build a relative coordinate system in which the node positions are computed in two dimensions. The main contribution is defining and computing relative positions of nodes in an ad-hoc network without using GPS. The algorithm, called the Self-Positioning Algorithm (SPA), uses range measurements between nodes to build a network coordinate system. The Time of Arrival (TOA) method is used to obtain the range between two mobile devices. Despite range measurement errors and node motion, the algorithm provides sufficient stability and location accuracy to support basic network functions. The algorithm allows nodes to determine their positions within the network area using only local information. It is particularly useful in scenarios where GPS is not available or is too weak (e.g., indoors) or when GPS is jammed. The algorithm can be applied to wide area ad-hoc networks and supports applications such as Location Aided Routing and Geodesic Packet Forwarding. In Geodesic Packet Forwarding, nodes use their relative positions to determine the direction to send packets to the destination. The paper describes the related work in radio-location techniques, the algorithm for building a local coordinate system, the means to define the center and direction of the network coordinate system, the influence of range errors on position estimation, and simulation results. The algorithm is designed to be robust to node mobility and environmental errors. It uses a Location Reference Group (LRG) to stabilize the network coordinate system's center and direction. The LRG is a set of stable nodes that help maintain the network's coordinate system. The algorithm is tested in simulations, showing that it can achieve accurate position estimates even with limited power range and node connectivity. The algorithm provides position information based on local processing and node views, without requiring centralized knowledge of the network topology. However, nodes do not know the physical direction of the coordinate system, making it difficult to associate the network coordinate system with the geographic coordinate system without GPS. The algorithm can be used for geodesic packet forwarding and location-dependent routing without GPS. Future work includes improving range measurement accuracy, enhancing center and direction stability, and extending the algorithm to three-dimensional models. The algorithm is tested in real-world applications to evaluate its performance.