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Accurately determining one's position has been a recurrent problem in history . It even precedes the first deep-sea navigation attempts of ancient civilizations and reaches the present time with the issue of legal mandates for the location identification of emergency calls in cellular networks and the emergence of location-based services. The science and technology for positioning and navigation has experienced a dramatic evolution . The observation of celestial bodies for navigation purposes has been replaced today by the use of electromagnetic waveforms emitted from reference sources .