A location technique is utilized where channel-model parameters are originally estimated prior to location taking place. Location then takes place using a first set of known-located nodes, and the channel-model parameters are updated based on the distances resulting from the location estimate. Once the channel-model parameters have been updated, location again takes place using a second set of known-located nodes, node distances are calculated based on the produced locations and the channel-model parameters are again updated. This process continues until no significant change is observed between the previous and the newly estimated location, or until a maximum number of iterations is reached.