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In sensor networks, several applications such as habitat monitoring and moving objects tracking, require the knowledge of nodes positions. Position estimation most often includes errors due to the measurements of distance and incoming angles between neighbors. Erroneous positions are propagated from a node to other nodes exacerbating the degree of errors in the estimation of the positions of these nodes. In this paper, we propose a new localization method, called HA-A2L (High Accuracy localization based on Angle to Landmark); it consists of (a) a new protocol that allows nodes to exchange information pertinent to the localization process; and (b) a localization algorithm that uses estimation of distances and incoming angles to locate nodes in sensors networks. Compared, via simulations, to previous methods, such as APS and A2L, HA-A2L considerably increases the number of located nodes with far better …