1. A method for determining the position of a device, the method comprising: receiving at a receiver a set of N measurements from signals transmitted by a respective set of N references devices, where N is an integer greater than two, the N measurements being suitable for determining a position of the device using N-lateration; generating, via a processor, respective reliability metrics for the N measurements based on information about uncertainty of individual measurements; and iteratively refining, via a processor, an estimate of the position of the device using N-lateration, wherein each iteration includes adjusting the estimate of the position of the device based on a least squares function that is weighted in accordance with the reliability metrics for the N measurements, wherein the least squares function implements Newton's iterative method for minimizing the sum of squares of errors.