COLLABORATIVE POSITIONING

A system and method are provided for collaborative positioning of wireless nodes using pairwise range measurements and positioning technology type. The system includes a plurality of wireless nodes communicatively coupled to each other via a wireless network. The plurality of wireless nodes include a first wireless node that estimates a plurality of pairwise range estimates between the first wireless node and each neighboring wireless node of a set of neighboring wireless nodes. The first wireless node receives the current position estimate and the positioning technology type of each neighboring wireless node and assigns a weight value to each neighboring wireless node based on the positioning technology type. The first wireless node computes an initial position estimate for the first wireless node based on the assigned weight value, the current position estimate, and a pairwise range estimate and determines a final position estimate for the first wireless node.