This paper presents a distributed, infrastructure-free positioning algorithm for mobile ad-hoc networks that does not rely on Global Positioning System (GPS). The algorithm, called the Self-Positioning Algorithm (SPA), uses range measurements between nodes to build a relative coordinate system, enabling nodes to determine their positions in two dimensions. The main contributions include defining and computing relative positions of nodes without GPS and explaining how the approach can be applied to wide-area ad-hoc networks. The SPA is particularly useful in scenarios where GPS is unavailable or unreliable, such as indoors or when GPS signals are jammed. The paper also discusses the impact of range errors on position estimation accuracy and presents simulation results to demonstrate the algorithm's performance. The authors conclude that the SPA can support network functions like Location Aided Routing and Geodesic Packet Forwarding, but note the need for a sufficient power range and the size of the Location Reference Group to ensure stability and reduce position errors. Future work aims to improve range measurement accuracy and extend the algorithm to three-dimensional models.This paper presents a distributed, infrastructure-free positioning algorithm for mobile ad-hoc networks that does not rely on Global Positioning System (GPS). The algorithm, called the Self-Positioning Algorithm (SPA), uses range measurements between nodes to build a relative coordinate system, enabling nodes to determine their positions in two dimensions. The main contributions include defining and computing relative positions of nodes without GPS and explaining how the approach can be applied to wide-area ad-hoc networks. The SPA is particularly useful in scenarios where GPS is unavailable or unreliable, such as indoors or when GPS signals are jammed. The paper also discusses the impact of range errors on position estimation accuracy and presents simulation results to demonstrate the algorithm's performance. The authors conclude that the SPA can support network functions like Location Aided Routing and Geodesic Packet Forwarding, but note the need for a sufficient power range and the size of the Location Reference Group to ensure stability and reduce position errors. Future work aims to improve range measurement accuracy and extend the algorithm to three-dimensional models.