A method and system for extensible positioning that uses a primary reference node at a known first position and a secondary reference node at a second position, where a range is measured between the secondary reference node and the primary reference node. The second position is determined based upon the first position and the measured range. A second range is measured between the secondary reference node and a non-fixed node. A third position corresponding to the non-fixed node is determined based upon the second position and the second range.