A method for mapping underground sensors onto a network map may include obtaining a plurality of magnetic measurements from a plurality of sensors. The method may include using the plurality of magnetic measurements for determining a plurality of sensor locations in an initial network map. The method may include generating updated network maps from the perspective of each localized sensor. The method may include merging the updated network maps into a final network map, the final network map comprising a most accurate location for each sensor. The method may include determining inner localized sensors out of the plurality of sensors in the final network map. The method may include identifying the inner localized sensors as new base station anchors. The method may include mapping the inner localized sensors onto the final network map as new base station anchors.