Method, systems and devices for determining for performing enhanced location based trilateration include receiving location information (e.g., waypoints) from one or more external devices, determining the validity of the received location information, performing normalization operations to normalize the received location information, assigning an overall ranking and a device-specific ranking to the location information, and storing the validated and normalized location information in memory. The enhanced location based trilateration may also include selecting four locations (e.g., waypoints) from the memory based on a combination of the overall ranking and the device-specific ranking, and generating a final location value or waypoint based on a result of applying the four selected waypoints to a kalman filter. The output of the kalman filter may also be reported and/or used as the device's current location.