Abstract: The wireless sensor network can including a plurality of anchor sensors each including a signal receiver, a processing module, and a transmitter. The signal receiver can be configured to detect a received signal. The received signal can include noise and further can include a transmitted signal from the node when the node is transmitting the transmitted signal. The node can be located at an exact location that is unknown to each of the plurality of anchor sensors. The exact location can be in a region that is known to each of the plurality of anchor sensors. The transmitted signal can be wirelessly transmitted from the node when the node is transmitting the transmitted signal. The wireless sensor network also can include a fusion center. The processing module of each anchor sensor of the plurality of anchor sensors can performs acts. The acts can include determining a probability of whether the node is present at each of a plurality of grid points of the region.