In this paper, we propose an indoor positioning method that combines a distance information obtained by the SOKUIKI sensor, an attitude estimation using the attitude sensor, and a structural information of the building. We simultaneously estimate the attitude of the terminal and the distance from the terminal to the surrounding reflective surfaces. The point, that the sum of squares error is minimized, is determined as an estimate of position based on the structural information obtained from the preliminary measurements. In this paper, we evaluate a position estimation accuracy of the proposed method based on the measurement data obtained by experiments.