“…The LPN from P i,N (x,y,z) provides the five-tuple P i ,N,M (x,y,x,l,p), where l is the likelihood of each known place p to contain the nonbeacon node i. The subscript M represents the different possibilities for each non-beacon node i under same NLA N. For example, P 20,4,1 (1,2,3,70,1) and P 20,4,2 (2,4,6,30,6), i.e., through the NLA number 4 the first estimated position of the non-beacon node 20 is (1,2,3) with 70% likelihood of being in the place number 1 and the second one is (2,4,6) with 30% likelihood of being in the place number 6. In (iv), the Evaluator selects the estimated position with the highest likelihood for each non-beacon node.…”