We present two algorithms for indoor positioning estimation in peer-to-peer networks. The setup is a network of two types of devices: reference devices with a known location and blindfolded devices that can determine distances to reference devices and each other. From this information the blindfolded devices try to estimate their positions. A typical scenario is navigation inside a shopping mall where devices in the parking lot can make contact with GPS satellites, whereas devices inside the building make contact with each other, devices on the parking lot, and devices fixed to the building. The devices can measure their in-between distances, with some measurement error, and exchange positioning information. However, other devices might only know their position with some error
