1. A method for determining a location of at least one lighting unit in a lighting system, comprising: transmitting a signal from the at least one lighting unit; estimating the location of the at least one lighting unit using at least two localization protocols and a position estimation method; recording at least one of a plurality of reference nodes a time-of-arrival signal from each of the at least one lighting units; communicating the recording from the at least one of a plurality of reference nodes to each of the other reference nodes; calculating at each of the reference nodes the distance-difference; and providing the at least two localization protocols into a derivative matrix.