1. A method for a wireless device to identify a self location in a wireless network comprising: by a processor of the wireless device, converting at least one belief to a converted belief, the at least one belief representing a first distribution of at least one possible location of the wireless device within the wireless network, the at least one converted belief being a function of an arbitrary signal metric associated with a wireless signal received by the wireless device from at least one other wireless device and at least one received self-belief from the at least one other wireless device to the wireless device, the at least one received self-belief representing a second distribution of at least one possible location of the at least one other wireless device within the wireless network; by the processor of the wireless device, determining a self-belief as a function of the at least one converted belief, the at least one converted belief representing a third distribution of the at least one possible location of the wireless device generated by considering all possible positions of the at least one other wireless device represented in the second distribution; and by the processor of the wireless device, identifying a self location, as a function of the self-belief, within the wireless network.