This study suggests a position estimator using linear hall effect sensors and iterative algorithm. Compared to other typical position sensors such as encoders and resolvers, hall effect sensors have several advantages. (e.g., insensitivity to both external disturbances and environmental contaminations, and having a scaleless property). Furthermore, linear hall sensors provide more detailed information on the motor position (i.e., finer resolution) than that of square wave hall sensors. Using those characteristics, a position estimator with linear hall sensors is proposed. Considering the sinusoidal property of the magnetic flux distribution along the position of the motor system, an iterative algorithm with dual sampling rates is applied. The effectiveness of the suggested method was validated with a simulation.