A system, comprising: a plurality of wireless nodes communicatively coupled to each other, via a wireless network, wherein each wireless node of the plurality of wireless nodes is configured to share a current position estimate and a positioning technology type with a set of neighboring wireless nodes of the plurality of wireless nodes, wherein the plurality of wireless nodes comprises a first wireless node, and wherein the first wireless node comprises a processor configured to: estimate a plurality of pairwise range estimates between the first wireless node and each neighboring wireless node of the set of neighboring wireless nodes; receive the current position estimate and the positioning technology type of each neighboring wireless node of the set of neighboring wireless nodes, via the wireless network; assign a weight value to each neighboring wireless node of the set of neighboring wireless nodes based on the positioning technology type of a corresponding neighboring wireless node of the set of neighboring wireless nodes; compute an initial position estimate for the first wireless node based on the assigned weight value, the current position estimate, and a pairwise range estimate of the plurality of pairwise range estimates for each neighboring wireless node of the set of neighboring wireless nodes; and determine a final position estimate for the first wireless node based on the computed initial position estimate and a correction estimate for the first wireless node, wherein the processor is further configured to estimate the correction estimate for the first wireless node by application of a weighted least square model on at least a plurality of ranging errors between the first wireless node and each neighboring wireless node of the set of neighboring wireless nodes and a plurality of Euclidean distances between the first wireless node and each neighboring wireless node of the set of neighboring wireless nodes. wherein each wireless node of the plurality of wireless nodes is configured to share a current position estimate and a positioning technology type with a set of neighboring wireless nodes of the plurality of wireless nodes, wherein the plurality of wireless nodes comprises a first wireless node, and wherein the first wireless node comprises a processor configured to: estimate a plurality of pairwise range estimates between the first wireless node and each neighboring wireless node of the set of neighboring wireless nodes; receive the current position estimate and the positioning technology type of each neighboring wireless node of the set of neighboring wireless nodes, via the wireless network; assign a weight value to each neighboring wireless node of the set of neighboring wireless nodes based on the positioning technology type of a corresponding neighboring wireless node of the set of neighboring wireless nodes; compute an initial position estimate for the first wireless node based on the assigned weight value, the current position estimate, and a pairwise range estimate of the plurality of pairwise range estimates for each neighboring wireless node of the set of neighboring wireless nodes; and determine a final position estimate for the first wireless node based on the computed initial position estimate and a correction estimate for the first wireless node, wherein the processor is further configured to estimate the correction estimate for the first wireless node by application of a weighted least square model on at least a plurality of ranging errors between the first wireless node and each neighboring wireless node of the set of neighboring wireless nodes and a plurality of Euclidean distances between the first wireless node and each neighboring wireless node of the set of neighboring wireless nodes. estimate a plurality of pairwise range estimates between the first wireless node and each neighboring wireless node of the set of neighboring wireless nodes; receive the current position estimate and the positioning technology type of each neighboring wireless node of the set of neighboring wireless nodes, via the wireless network; assign a weight value to each neighboring wireless node of the set of neighboring wireless nodes based on the positioning technology type of a corresponding neighboring wireless node of the set of neighboring wireless nodes; compute an initial position estimate for the first wireless node based on the assigned weight value, the current position estimate, and a pairwise range estimate of the plurality of pairwise range estimates for each neighboring wireless node of the set of neighboring wireless nodes; and determine a final position estimate for the first wireless node based on the computed initial position estimate and a correction estimate for the first wireless node, wherein the processor is further configured to estimate the correction estimate for the first wireless node by application of a weighted least square model on at least a plurality of ranging errors between the first wireless node and each neighboring wireless node of the set of neighboring wireless nodes and a plurality of Euclidean distances between the first wireless node and each neighboring wireless node of the set of neighboring wireless nodes.