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Wireless positioning has attracted much research attention and has become increasingly important in recent years. Wireless positioning has been found very useful for other applications besides E911 service, ranging from vehicle navigation and network optimization to resource management and automated billing. Although many positioning devices and services are currently available, it is necessary to develop an integrated and seamless positioning platform to provide a uniform solution for different network configurations. This article surveys the state-of-the-art positioning designs, focusing specifically on signal processing techniques in network-aided positioning. It serves as a tutorial for researchers and engineers interested in this rapidly growing field. It also provides new directions for future research for those who have been working in this field for many years.