Fig. 1

Localisation methods for automated radio telemetry systems, which estimate location by: A finding the intersection of distance estimates that are inferred from relative signal strengths (RSSs) on omni-directional receivers; B finding the intersection of multiple angles of arrival (AOA) produced by directional receivers; C using the AOA and distance estimates inferred from the RSSs of directional receivers; and D developing a radio fingerprint map of each receivers’ capture area (denoted by the colours red, green and blue), using ground-truthed RSS data