A method for locating a radio frequency tag using spatially separated beacon nodes, said method comprising the steps of: providing a plurality of spatially separated beacon nodes each comprising a plurality of antennas coupled with an antenna switch, a radio frequency device coupled with the antenna switch, and a microcontroller having outputs and an input, said input of the microcontroller being coupled with the radio frequency device and said outputs of the microcontroller being coupled with said antenna switch; transmitting a plurality of beacon symbols from cyclically selected antennas of one of the plurality of beacon nodes, wherein the microcontroller is configured to cyclically select an antenna by controlling said antenna switch through its outputs and wherein the radio frequency device provides timing pulses to said input of the microcontroller which trigger the microcontroller to perform an antenna switch at a symbol boundary; receiving the plurality of beacon symbols at a radio frequency, RF, tag; determining phase jumps between beacon symbols transmitted from said different antennas of said one beacon node received at the RF tag; estimating an angle-of-arrival, AoA, of the plurality of beacon symbols transmitted from said one beacon node from the determined phase jumps and known arrangements of the antennas; repeating said steps of transmitting, receiving, determining and estimating for at least another beacon node of the plurality of beacon nodes and estimating an AoA vector for each of the plurality of transmitting beacon nodes from the respective AoA estimates; and estimating a spatial location of the RF tag from the AoA vectors. providing a plurality of spatially separated beacon nodes each comprising a plurality of antennas coupled with an antenna switch, a radio frequency device coupled with the antenna switch, and a microcontroller having outputs and an input, said input of the microcontroller being coupled with the radio frequency device and said outputs of the microcontroller being coupled with said antenna switch; transmitting a plurality of beacon symbols from cyclically selected antennas of one of the plurality of beacon nodes, wherein the microcontroller is configured to cyclically select an antenna by controlling said antenna switch through its outputs and wherein the radio frequency device provides timing pulses to said input of the microcontroller which trigger the microcontroller to perform an antenna switch at a symbol boundary; receiving the plurality of beacon symbols at a radio frequency, RF, tag; determining phase jumps between beacon symbols transmitted from said different antennas of said one beacon node received at the RF tag; estimating an angle-of-arrival, AoA, of the plurality of beacon symbols transmitted from said one beacon node from the determined phase jumps and known arrangements of the antennas; repeating said steps of transmitting, receiving, determining and estimating for at least another beacon node of the plurality of beacon nodes and estimating an AoA vector for each of the plurality of transmitting beacon nodes from the respective AoA estimates; and estimating a spatial location of the RF tag from the AoA vectors.