<p>This paper addresses the challenge of distributed formation and localization in three-dimensional space without relying on global coordinates. A novel control strategy is introduced, utilizing a unidirectional acyclic-directed sensing graph with a leader-follower configuration to circumvent mismatched measurement challenges effectively. By employing bispherical coordinates, which use angle and ratio-of-distance measurements, three controlled variables are constructed to form an orthogonal space. Using these variables and orthogonal bases, a simultaneous localization and formation algorithm is developed that converges globally to the desired formation and position without needing global coordinates, under the condition that the initial positions of all agents are not coincident. Additionally, a controller is designed to enable the entire formation to achieve translation, rotation, and scaling, while an adaptive position estimator is introduced that does not depend on follower dynamics. The proposed algorithm is rigorously proven and can be seamlessly integrated with low-cost on-board visual sensors, operating within any locally oriented coordinate system, enhancing its practical applicability. Simulation results validate the effectiveness of the proposed approach.</p>