Method for determining the position of one or more objects capable of moving in a network, one or more objects being provided with an ability to measure distance from the other objects of the network, at least some of the coordinates of an object are known, characterised in that it comprises at least the following steps: • defining a set of points Ai or anchors and the uncertainties associated with their coordinates, the coordinates of the anchors and the uncertainty concerning the coordinates describing information about the position of the objects and the uncertainty as to this information, • generating a set containing the estimated positions of the objects and defining an initial position of the points, • measuring a set of distances between at least two objects Mi, Mj, with associated uncertainties, and executing the following steps: • step 1, for each object M i, calculating a displacement δ → → i = ∑ j ∈ R i δ → j → i corresponding to the vector sum of the ranging or measurement displacements over the set of available ranging measurements towards the object M i and induced on this object M i by all of the other objects having a ranging measurement from said object M i, as a result of the relative ranging measurement r ij between M i and M j and its uncertainty σ rij, with R i = { r ij} all of the available ranging measurements towards M i, and δ → → i = ∑ j ∈ R i δ → j → i where δ → j → i = φ Δ ij σ rij M j M i → ‖ M j M i → ‖ with Δ ij being the coordinates of M j M i, φ is a given displacement function, • step 2,, for each object M i, having an anchoring coordinate in an associated virtual anchor A i, calculating a return displacement value α → i to this anchor, with α → i = Ψ( A i M i + δ → i, σ Ai), Ψ being a displacement function, • step 3,, applying, to each object M i, a displacement equal to the sum of the ranging displacement δ → i and the anchoring correction α → i which were calculated p reviously, • step 4,, calculating the square of the error term Δ tot 2 = ∑ i = 0 N − 1 Δ i 2 where Δ i 2 = ∑ j ≠ i Δ ij 2 with Δ ij = r ij - d( M i,M j), Δ is an error term between an estimation of the distance d(Mi, Mj) after displacement of the object in step 3 and the distance measurement r ij provided by ranging devices on all of the nodes, comparing this quantity with a stopping criterion defined beforehand by an operator if Δ tot 2 ≤ Δ fin 2, or else max(|Δ ij |) < Maxdeviation, if this test is met, going to step 6, • if not, step 5, testing whether a maximum number of iterations has been reached, if / < l max then iterating l = l + 1 and going to step 1, if not going to step 6, • step 6,, end of the iterations, defining the position of the objects corresponding to the best estimation of the actual position of the objects obtained for each object. • defining a set of points Ai or anchors and the uncertainties associated with their coordinates, the coordinates of the anchors and the uncertainty concerning the coordinates describing information about the position of the objects and the uncertainty as to this information, • generating a set containing the estimated positions of the objects and defining an initial position of the points, • measuring a set of distances between at least two objects Mi, Mj, with associated uncertainties, and executing the following steps: • step 1, for each object M i, calculating a displacement δ → → i = ∑ j ∈ R i δ → j → i corresponding to the vector sum of the ranging or measurement displacements over the set of available ranging measurements towards the object M i and induced on this object M i by all of the other objects having a ranging measurement from said object M i, as a result of the relative ranging measurement r ij between M i and M j and its uncertainty σ rij, with R i = { r ij} all of the available ranging measurements towards M i, and δ → → i = ∑ j ∈ R i δ → j → i where δ → j → i = φ Δ ij σ rij M j M i → ‖ M j M i → ‖ with Δ ij being the coordinates of M j M i, φ is a given displacement function, • step 2,, for each object M i, having an anchoring coordinate in an associated virtual anchor A i, calculating a return displacement value α → i to this anchor, with α → i = Ψ( A i M i + δ → i, σ Ai), Ψ being a displacement function, • step 3,, applying, to each object M i, a displacement equal to the sum of the ranging displacement δ → i and the anchoring correction α → i which were calculated p reviously, • step 4,, calculating the square of the error term Δ tot 2 = ∑ i = 0 N − 1 Δ i 2 where Δ i 2 = ∑ j ≠ i Δ ij 2 with Δ ij = r ij - d( M i,M j), Δ is an error term between an estimation of the distance d(Mi, Mj) after displacement of the object in step 3 and the distance measurement r ij provided by ranging devices on all of the nodes, comparing this quantity with a stopping criterion defined beforehand by an operator if Δ tot 2 ≤ Δ fin 2, or else max(|Δ ij |) < Maxdeviation, if this test is met, going to step 6, • if not, step 5, testing whether a maximum number of iterations has been reached, if / < l max then iterating l = l + 1 and going to step 1, if not going to step 6, • step 6,, end of the iterations, defining the position of the objects corresponding to the best estimation of the actual position of the objects obtained for each object.