Method and apparatus for determining the location of a node in a wireless system

A node comprising:

• a receiver receiving transmissions from a plurality of nodes;
• logic circuitry determining a plurality of distances to nodes within the communication system based on first channel-model parameters and received signal strengths of the transmissions, wherein the first channel-model parameters are parameters to an equation relating path-loss to distance, the logic circuitry additionally producing a first location of the node based on the plurality of distances, updating the channel-model parameters based on the first location, determining a second plurality of distances to nodes within the communication system based on the updated channel-model parameters, and producing a second location of the node based on the second plurality of distances, wherein the updated channel-model parameters are parameters to the equation relating path-loss to distance;
• and
• wherein the channel model comprises
• PL
• db
• ⁡
• (
• d
• )
• =
• PL
• dB
• ⁡
• (
• do
• )
• ︸
• A
• +
• n
• *
• 10
• ⁢
• ⁢
• log
• ⁢
• ⁢
• (
• d
• )
• (
• 1
• )
• where PLdB(d) is the Path Loss in dB at distance d and n is the path loss coefficient that indicates a rate at which path loss increases with distance, and A is a Path Loss in dB at distance do.