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Positioning is a critical task for applications that involve mobile nodes as well as applications that rely on fixed nodes. The Global Positioning System (GPS) is a satellite-based navigation system that provides its users with proper equipment access to positioning information. The Iterative Least Squares (ILS) and Extended Kalman Filtering (EKF) techniques are two of the most commonly used approaches for GPS positioning. Both ILS and EKF techniques are based on the same pseudorange equation and both of the techn...