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This paper investigates the node localization problem for wireless sensor networks in three-dimension space. A distributed localization algorithm is presented based on the rigid graph. Before location, the communication radius is adaptively increasing to add the localizability. The localization process includes three steps: firstly, divide the whole globally rigid graph into several small rigid blocks; secondly, set up the local coordinate systems and transform them to global coordinate system; finally, use the quadrilateration iteration technology to locate the nodes in the wireless sensor network. This algorithm has the advantages of low energy consumption, low computational complexity as well as high expandability and high localizability. Moreover, it can achieve the unique and accurate localization. Finally, some simulations are provided to demonstrate the effectiveness of the proposed algorithm.