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In this paper we describe three methods for localizing a wireless sensornetwork node, using anchor nodes in its neighbourhood, when there is an errorin distance estimation present. We use the intersection points of the circlesformed with the estimated distances from each anchors and we apply differentmethods to form clusters. We then use the cluster points to calculate the finalposition.

Multilateration: Methods For Clustering Intersection Points For Wireless Sensor Networks Localization With Distance Estimation Error