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Wireless sensor networking is a current topic of research areas and widely used in a variety of applications. The localization of sensor nodes is a fundamental problem in wireless sensor networks. Many localization approaches have been presented and can be implemented using some powerful nodes with GPS devices. In this paper, we introduce a distributed localization scheme, called Rectangle Overlapping Approach (ROA), using a moving beacon with a GPS and a directional antenna. The positions can be computed by simple operations according to the current state of the moving beacon, including the rotation angle and the position. Simulation results show that the proposed scheme is very efficient and the node positions can be determined accurately after the beacon operates along straight-line traverse routes.