Abstract: A system and method for applying an algorithm to distance measurements between nodes in an ad-hoc communications network. The algorithm is located at an individual node of the ad-hoc network and processes collected data via a multi-path filter to ensure that range measurement data is correct, and if so, include such measurement data in a historical data matrix in which old measurement data is eliminated. During periods where received signals are unable to provide correct distance measurements due to reflections affecting the path between nodes or media absorption or radio energy, distance estimates may be obtained from this accurate historical data.