Once your location is shared with the companies, there’s no way to delete that information or get it back. Your best bet is to avoid sharing your location in the first place — at least until the government bestirs itself to begin regulating how that information is collected, used and sold.
The most important thing you can do now is to disable location sharing for apps already on your phone. (Don’t worry, your phone will automatically send its location to emergency responders if you dial 911.) It’s easy to do this without having to open each app.
To turn off location sharing, go to Settings Privacy Location Services. You can choose when to share your location for each app.