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Localization of nodes in wireless sensor networks (WSN) is important in many applications such as tracking emergency services personnel. At CSIRO we are developing low-cost nodes suitable for cooperative localization in WSN using a single radio for communication and ranging based on time-of-arrival(TOA). In this paper we present the results of network simulations of three previously published algorithms, and propose a new algorithm that overcomes some limitations of these algorithms. The results show the benefits of the new algorithm in networks with low range noise.