Disclosed is a method of determining a location L of a tag 12 carried by an animal 10 within an environment 110, and a method of tracking said animal, using a distribution of wireless tag detectors 20, at different locations L, comprising: determining which of the different wireless detectors have detected the tag； and processing multiple different locations at which the tag has been detected to provide a single location for the tag at a first time. The processing may involve selecting one location or averaging the locations. The detectors 20 may detect in a fixed sequence 30, such that detectors with overlapping detection ranges detect sequentially. Also disclosed is a system and computer programme for running the method. Also disclosed is a method of tracking multiple animals, each carrying a separate tag, within the same observation environment.
