the neighbors of nodes p and q can be computed by using the positions of the node i and at least two other nodes for which the positions are already obtained if the distance from the node j to these nodes is known limited power ranges of the wireless terminals 1 reduce the number of one hop neighbors for which node i is able to compute the position we define a local view set lvs for node i as a set of nodes lvs i u2282 k i such that u2200 j u03b5 lvs i node i can compute the location of node j given that the node i is the center of the coordinate system 6 by choosing different ps and qs for the same node i we obtain different local view sets the choice of p and q should maximize the number of nodes for which we can compute the position after the nodes have built their local coordinate systems 6 their positions are set to 0 0 and their coordinate systems have different directions as illustrated in fig5 a direction is defined as a set of two axis vectors x y we will now describe a way to adjust the directions of the local coordinate systems 6 to obtain the same direction for all the nodes in the network we call this direction the direction of the network global coordinate system we will then describe a preferred method for electing the center of the global coordinate system finally we will show.