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Abstract: In this paper, we present time-based positioning scheme (iTPS), a purely localized location detection scheme for sensor networks with long-range beacons. iTPS relies on time difference of arrival (TDoA) of radio frequency (RF) signals measured locally at each sensor to detect range differences from the sensor to four base stations. These range differences are combined to estimate the sensor location through trilateration. iTPS is an improvement over TPS (Cheng et al., IEEE INFOCOM, 2004), which produces two ambiguous position estimates when sensors are close to any base station. iTPS substantially reduces the number of ambiguous estimates and can improve accuracy. Features of iTPS include low communication overhead for sensors, no requirements for time synchronization, low computational overhead due to simple algebraic operations, and high scalability. We conduct extensive simulation to test iTPS and compare it with TPS. The obtained results show that iTPS is an efficient and effective scheme for location discovery in sensor networks with long-range beacon stations. [Copyright &y& Elsevier]