A technique for determining the position of a device involves generating a set of N measurements from signals transmitted by a respective set of N references devices, where the N measurements are suitable for determining a position of the device using N-lateration. Respective reliability metrics are generated for the N measurements based on information about uncertainty of individual measurements. An N-lateration computation is used to iteratively refine an estimate of the position of the device. Each iteration includes adjusting the estimate of the position of the device based on a least squares function that minimizes a sum of squares of errors between the N measurements and distances between the estimate of the position of the device and the N reference sources. The least squares function is weighted in accordance with the reliability metrics for the N measurements.