System and method for generating and maintaining a relative positioning system without GPS

NOVELTY - At least some of wireless terminals can communicate over wireless links (2) in one or several hops with at least some of the other wireless terminals. The distances (dij) to one-hop neighbors may be measured in a number of the wireless terminals (1), using the distances measured in at least two terminals (1) to compute the location (x,y) of at least one other wireless terminal. USE - For determining the relative position of wireless terminals in a network without using GPS. ADVANTAGE - Generates and maintains a relative positioning system in an ad hoc network. Enables the terminals to find their positions within the network area using only the locally available information.