|This thesis describes algorithms to determine distances and positions in resource-constrained sensor networks. In sensor networks with low accuracy requirements, node’s positions can be calculated by the centroid localization algorithm (CL) provided that all reference nodes can be configured optimal regarding the presented method. In borderlands of a sensor network, the accuracy of the centroid localization decreases enormously. The new presented algorithm centroid localization with edge correction (CLwEC) reduces this positioning error significantly and requires, in comparison the CL, only slightly increased resources. A further improvement of the positioning error was achieved by the new introduced weighted centroid localization algorithm (WCL).