Hyper-accurate object-positioning system and method of self-localization using same

An object-positioning system comprising:

• a plurality of reference nodes having a coordinate system associated therewith, the plurality of reference nodes located at an unknown positions in said coordinate system;
• one or more target nodes at unknown positions in said coordinate system;
• at least one processing unit;
• and
• one or more signal-retransmission nodes each for communication with at least a subset of the plurality of reference nodes, at least a subset of the one or more target nodes, and at least a subset of the at least one processing unit for populating object-positioning related data therebetween;
• wherein the plurality of reference nodes and the one or more target nodes are configured for communication with each other via one or more wireless signal sets, each wireless signal set comprising at least a first-speed signal having a first transmission speed and a second-speed signal having a second transmission speed, and the first transmission speed being higher than the second transmission speed;
• wherein the object-positioning related data comprises information of the one or more wireless signal sets;
• wherein the at least one processing unit is configured for:
• collecting object-positioning related data from the one or more signal-retransmission nodes,
• determining the distances between the plurality of reference nodes and the distance between the target nodes and the plurality of reference nodes, based on the time difference, obtained from the information of the one or more wireless signal sets, between the receiving time of the first-speed signal and the receiving time of the second-speed signal of each wireless signal set, and
• determining the positions of the plurality of reference nodes and the one or more target nodes based on the determined distances.