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).
    If no sensor can be determined in the loop, stop.
    If all sensors are determined, stop.
Algorithm 1: The basic geometric buildup algorithm.