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In this paper, a collaborative localization technique based on the direction of estimation (DoE) is proposed. Two directions, border-to-centre B-C and centre-to-border C-B, are investigated and their location accuracies are evaluated. The results show that the B-C method approach outperforms the C-B method based on the root-mean square error (RMSE) and Cramer-Rao bound (CRB). The new B-C DoE method is demonstrated using different deployment strategies and node densities. The simulation results show that the B-C DoE algorithm decreases the accumulated errors of location estimation approximately by 12% over conventional collaborative algorithms; in addition its performance is clearly superior to the performance of other DoE methods.