Precise and low-cost localization is fundamental in a variety of applications. The focus of the current research is on augmented reality for multitude of applications from gaming to training of personnel in various industries. In such applications, one key requirement is that of identifying a precise position on a given object, possibly in a complex scenario, like a cluttered environment, with a lot of background noise (one example could be that of identifying a precise location on a jet engine when training a maintenance operator with augmented reality). A typical approach when performing localization is that of using trilateration, starting from range information that has been collected through three or more radiofrequency receivers.