Method, systems and devices for performing trilateration for a fixed infrastructure node (FIN) using enhanced location based information may include receiving a plurality of inputs (e.g., waypoints) from a plurality of devices, using the received plurality of inputs to generate an initial positional fix, and setting a current waypoint of the FIN based the initial positional fix. The FIN may receive additional inputs, and use the plurality of inputs to generate updated (more accurate) location information for the FIN. The FIN may update its current waypoint based on the generated updated location information. The FIN trilateration operation may also include applying three or four of the received inputs (e.g., waypoints) kalman filter, and reporting/using the output of the kalman filter as the device's current waypoint or location.