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Localization is a fundamental issue of wireless sensor networks that has been extensively studied in the literature. Our real-world experience from GreenOrbs, a sensor network system deployed in a forest, shows that localization in the wild remains very challenging due to various interfering factors. In this paper, we propose CDL, a Combined and Differentiated Localization approach for localization that exploits the strength of range-free approaches and range-based approaches using received signal strength indicator (RSSI). A critical observation is that ranging quality greatly impacts the overall localization accuracy. To achieve a better ranging quality, our method CDL incorporates virtual-hop localization, local filtration, and ranging-quality aware calibration. We have implemented and evaluated CDL by extensive real-world experiments in GreenOrbs and large-scale simulations. Our experimental and simulation …