| Input: The positions of the anchors, the distances . |
| Output: The positions of a set of determined sensors. |
| Step 1: Let the anchors be the initial set of determined sensors. |
| Step 2: Repeat: |
| For each undetermined sensor : |
| If a basis set of determined sensors is found for sensor , |
| determine sensor by solving the linear system (2.2). |
| End |
| End |
| If no sensor can be determined in the loop, stop. |
| If all sensors are determined, stop. |