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We propose a novel cooperative positioning algorithm that fuses information from satellites and terrestrial wireless systems, suitable for GPS-challenged scenarios. The algorithm is fully distributed over an unstructured network, does not require a fusion center, does not rely on fixed terrestrial infrastructure, and is thus suitable for ad-hoc deployment. The proposed message passing algorithm, named hybrid sum-product algorithm over a wireless network (H-SPAWN), is described and analyzed. A novel parametric message representation is introduced, to reduce computational and communication overhead. Through simulation, we show that H-SPAWN improves positioning availability and accuracy, and outperforms hybrid positioning algorithms based on conventional estimation techniques.