Data fusion is an innovative method in data processing, leveraging a combination of diverse data sources and flows and incorporating spatial and temporal dimensions to enhance the efficiency of estimation and control processes. In this work, an adaptive system architecture for mutual IoT device positioning is presented. The system utilizes pairwise distances between devices and determines their relative position using the Simultaneous Perturbation Stochastic Approximation (SPSA) algorithm combined with the consensus algorithm. © © 2025 The Authors.