1. In a network comprising a node and at least one reference node, a method of determining an updated most likely position of the node in the network, the method comprising: identifying a first position probability space (PPS) associated with the node comprising a first centroid having a set of coordinates and a first se of a plurality of first vectors, each originating from the first centroid and defined by a magnitude and direction, wherein the magnitude of each first vector reflects an accuracy of a position of the node in the direction of the first vector; receiving, at the node, updated position measurement information from the reference node; and modifying, by the node and as a function of the received updated position measurement information, the first PPS to create an updated PPS (UPPS) that defines a space that encompasses positions where the node is most likely currently positioned in the network; wherein the UPPS comprises: a second centroid having a second set of coordinates; and a second set of a plurality of second vectors, each defined by a magnitude and direction, which originate from the second centroid and define the space around the second centroid, wherein the magnitude of each second vector reflects an accuracy of the current position of the node in the direction of the second vector and is determined as a function of the magnitude of a corresponding first vector and the received updated position measurement information.