Localization is one of the most important technologies in wireless sensor networks. A lightweight distributed node localization scheme is proposed by considering the limited computational capacity of WSNs. The proposed scheme introduces the virtual force model to determine the location by incremental refinement. Aiming at solving the drifting problem and malicious anchor problem, a location verification algorithm based on the virtual force mode is presented. In addition, an anchor promotion algorithm using the localization reliability model is proposed to re-locate the drifted nodes. Extended simulation experiments indicate that the localization algorithm has relatively high precision and the location verification algorithm has relatively high accuracy. The communication overhead of these algorithms is relative low, and the whole set of reliable localization methods is practical as well as comprehensive.