In order to enhance the accuracy of AD-Hoc network localization and the autonomy of the range-free localization algorithm, the sensing distance-accumulated value, as a scale, is used to modify accumulated distance and estimate node location information by the way of curve fitting, instead of calculating the coordinate value by the way of maximum likelihood estimation. By means of the mathematical deduction and simulation analysis, this localization algorithm, based on the distance-assisted, could realize the quantitative analysis of DV-Hop algorithm, reduce the physical localization difference of the AD-Hoc network due to the multi-hop communication mechanism, modify the accumulated distance in the hop segment, improve the localization accuracy in a network of nodes that are unevenly distributed. In dense or sparse networks, this new improved algorithm could achieve a better localization data of the nodes than the traditional algorithm, and realize the nodes autonomous localization in the AD-Hoc network.