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.
Algorithm 2: The extended geometric buildup algorithm.