A method, comprising: transmitting a signal from at least one lighting unit of a lighting system; recording, at at least one of a plurality of reference nodes, time-of-arrival data from each of the at least one lighting units; communicating the recording from the at least one of a plurality of reference nodes to each of the other reference nodes; calculating from the time-of-arrival data a distance-difference between the at least one lighting unit and the at least one reference node; characterized in that the method further comprises estimating the location of the at least one lighting unit from the transmitted signal using at least two localization protocols and a position estimation algorithm that employs, together, data produced by each of the two localization protocols to obtain an estimated location of the at least one lighting unit, wherein obtaining an estimated location of the at least one lighting unit includes providing the data produced by the at least two localization protocols into a partial derivative matrix, wherein the partial derivative matrix comprises at least two sub-matrices, including: a first sub-matrix including partial derivatives of a measured angle-of-arrival at the reference nodes of a signal received from each of the at least one lighting units with respect to x and y location, and a second sub-matrix including a partial derivative of the measured distance-difference between the at least one of the reference nodes and a corresponding one of the at least one lighting units with respect to x and y location. transmitting a signal from at least one lighting unit of a lighting system; recording, at at least one of a plurality of reference nodes, time-of-arrival data from each of the at least one lighting units; communicating the recording from the at least one of a plurality of reference nodes to each of the other reference nodes; calculating from the time-of-arrival data a distance-difference between the at least one lighting unit and the at least one reference node; characterized in that the method further comprises estimating the location of the at least one lighting unit from the transmitted signal using at least two localization protocols and a position estimation algorithm that employs, together, data produced by each of the two localization protocols to obtain an estimated location of the at least one lighting unit, wherein obtaining an estimated location of the at least one lighting unit includes providing the data produced by the at least two localization protocols into a partial derivative matrix, wherein the partial derivative matrix comprises at least two sub-matrices, including: a first sub-matrix including partial derivatives of a measured angle-of-arrival at the reference nodes of a signal received from each of the at least one lighting units with respect to x and y location, and a second sub-matrix including a partial derivative of the measured distance-difference between the at least one of the reference nodes and a corresponding one of the at least one lighting units with respect to x and y location. a first sub-matrix including partial derivatives of a measured angle-of-arrival at the reference nodes of a signal received from each of the at least one lighting units with respect to x and y location, and a second sub-matrix including a partial derivative of the measured distance-difference between the at least one of the reference nodes and a corresponding one of the at least one lighting units with respect to x and y location.