“…Unfortunately, the GPS signal cannot be received indoor; therefore, different technologies and approaches have been studied, such as time of arrival (ToA), time difference of arrival (TDoA), and angle of arrival (AoA) . In addition, several localization techniques have been proposed so far, which led to a large variety of algorithms aiming at obtaining nodes locations with low computational costs and restricted dataset . In such solutions, a small number of nodes, with known positions (also known by the name of anchors or reference points) advertise their locations in order to assist nodes with unknown locations (also referred to as unknown or normal nodes) to estimate their coordinates.…”