A method of navigating a self-propelled robotic tool comprises transmitting a wireless signal (66) along a first signal path between the robotic tool (14) and a first wireless interface of a base station (16) remote from the robotic tool (14)； transmitting a wireless signal (66) along a second signal path between the robotic tool (14) and a second wireless interface of the base station (16), said second wireless interface being spatially separated from the first wireless interface by a separation distance； upon receipt, comparing the signal transmitted along the first signal path with the signal transmitted along the second signal path to obtain a propagation time difference between the signal transmitted along the first signal path and the signal transmitted along the second signal path, said propagation time difference defining a path length difference between said first and second signal paths； and calculating, based on the separation distance and the path length difference, a value representative of a bearing ( φ) from the base station (16) to the robotic tool (14).L'invention concerne un procédé de navigation d'un outil robotisé autopropulsé, consistant à : transmettre un signal sans fil (66) sur un premier trajet de signal entre l'outil robotisé (14) et une première interface sans fil d'une station de base (16) distante de l'outil robotisé (14) ； transmettre un signal sans fil (66) sur un second trajet de signal entre l'outil robotisé (14) et une seconde interface sans fil de la station de base (16), ladite seconde interface sans fil étant séparée spatialement de la première interface sans fil par une distance de séparation ； à réception, comparer le signal transmis sur le premier trajet de signal au signal transmis sur le second trajet de signal, pour obtenir une différence de temps de propagation entre le signal transmis sur le premier trajet de signal et le signal transmis sur le second trajet de signal, ladite différence de temps de propagation définissant
