| Input: The positions of the anchors, the distances . |
| Output: The positions of a set of determined sensors. |
| Step 1: Set the anchors to be the initial set of determined sensors. |
| Step 2: Repeat: |
| For each undetermined sensor: |
| If the sensor has distances to () required determined sensors, |
| determine the positions of all sensors by solving (2.8), |
| and update the coordinates of all sensors by proper |
| translation and orthogonal transformation. |
| End |
| End |
| If no sensor can be determined in the loop, stop. |
| If all the sensors are determined, stop. |