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Positioning enables many applications such as emergency services, target identification and tracking, health monitoring and geographic routing and so on. Time difference of arrival (TDOA) ranges measured using ultra-wideband signals are used in the position estimation process. A TDOA error-minimising localisation method has been proposed to estimate the locations of blind nodes and its performance is investigated in both LOS and NLOS propagations. Theoretical lower bound on the variance of the blind node positions has also been derived for the LOS situation.