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Wireless Sensor Networks are more and more frequently integrated into many civil and military applications. Those applications rely on the system to determine accurately the location of the sensor nodes. Most existing localization algorithms are not efficient in noisy environments and assume that the nodes are already configured appropriately for the local environment. In this paper, we propose a novel method to determine the position of the nodes in a noisy environment. The preliminary step of our solution consists of characterizing the local environment parameters. The localization step implements an iterative procedure to determine the nodes position. The numerical results derived from the simulations show the robustness of our method when compared the Concentric Anchor Beacon (CAB) algorithm, one of the most efficient techniques. We also address the computation time, as a performance metric.