For most wireless sensor network (WSN) applications, the positions of the sensor nodes need to be known. Global positioning systems have not fitted into WSNs very well owing to their price, power consumption, accuracy and limitations in their operating environment. Hence, the last decade has brought about a large number of proposed methods for WSN node localization. They show tremendous variation in the physical phenomena they use, the signal properties they measure, the resources they consume, as well as in their accuracy, range, advantages and limitations. This paper provides a high-level, comprehensive overview of this very active research area.