Patent ID: 8054762

Claim:
A method for determining locations of a plurality of communication devices in a network, comprising: solving an objective function, by a computing device, to determine a first set of locations of one or more of the plurality of communication devices, wherein the objective function is based at least in part on a plurality of estimated distance or angle attributes between individual communicates devices and at least three respective neighboring beacon nodes, and wherein the objective function is associated with reducing potential errors with usage of a location discovery model; re-solving, by the computing device, either the objective function or a modified variant of the objective function, to determine a second set of locations of the communication devices; comparing, by the computing device, the first set of locations with the second set of locations; and determining, by the computing device, the locations of the communication devices based at least in part on said comparing; wherein determining comprises identifying a first set of estimated distance or angle attributes that includes one or more of the plurality of estimated distance or angle attributes and a second set of estimated distance or angle attributes that includes one or more of the plurality of estimated distance or angle attributes, wherein the estimated distance or angle attributes in the first set of estimated distance or angle attributes have relatively higher probability of being incorrect as compared to the estimated distance or angle attributes in the second set of estimated distance or angle attributes.