Patent ID: 8369869

Claim:
A method for determining a geographical position of a node in an ad-hoc network, wherein the method comprises: determining distance circles of at least two neighboring nodes of the node; determining points of intersection of the distance circles of the at least two neighboring nodes of the node; determining a main set of points of intersection, wherein the main set comprises a subset of the points of intersection and includes points of intersection that are in the vicinity of an estimated position of the node, wherein the main set of points of intersection is determined by: determining a metric for each point of intersection; and determining whether to include each point of intersection in the main set of points of intersection based on the determined metric for that point of intersection; such that the number of points of intersection included in the main set of points of intersection is variable and not predetermined by the number of the neighboring nodes; and determining the geographical position of the node by means of the main set of points of intersection.