Concerning covering loopholes and uneven local deployment, a Directional and Heterogeneous Precision Self-deployment Algorithm (DHPSA) was proposed. Autonomous deployment process was divided into two stages. Firstly, a node moved to the destination path by choosing the optimal route in real-time under virtual forces of neighbor node and specified path. Then, through autonomous rotation and autonomous moving, the location of the node was finely tuned under joint virtual force of neighbor nodes and the accurate coverage of the target path was realized finally. The contrast experiments show that, compared with the VFPSA (Virtual Force-based Precision Self-deployment Algorithm), the coverage rate of the proposed algorithm is increased by about 4.4 percent, the overlapping rate is decreased by about 3.4 percent, moving distance is reduced by about 2.1 percent and deployment time is reduced by about 4.3 percent. The simulation experiment results show that the proposed deployment algorithm can effectively increase the coverage rate, decrease the overlap rate and reduce energy consumption.