1. A method for localization of a mobile terminal using known positions of a plurality of fixed terminals, comprising: at each fixed terminal, receiving a signal from the mobile terminal; for each fixed terminal, estimating a square of a distance separating the known location for the fixed terminal from the mobile terminal based upon the received signal; selecting a single reference terminal from the fixed terminals that is closest to the mobile terminal to reduce a mean squared error for the localization of the mobile terminal, the single reference terminal being located at a reference position and corresponding to a squared reference distance to the mobile terminal, the plurality of fixed terminals thereby corresponding to the single reference terminal and a remaining set of fixed terminals; deriving linear equations from the squared distances, the squared reference distance, the reference location, the known locations for the remaining set of fixed terminals, and a covariance matrix that measures covariances resulting from the linear equation derivation; and determining the position of the mobile terminal using a location estimator on the linear equations.