A method for determining the location of a medical device within a body is provided. The method includes transmitting from the medical device an acoustic signal receiving with the medical device a reflected acoustic signal advancing the medical device based on a first algorithm, the first algorithm including a first weighting factor and a first feature extracted from the reflected acoustic signal determining a first location of the medical device based on the first algorithm and moving the medical device to a second location based on a second algorithm, the second algorithm based on the determined first location and including at least one of a second weighting factor and a second feature extracted from the reflected acoustic signal. Also disclosed are systems and devices for performing the methods described herein.
