A system for identifying the location of an emitter in an image, said emitter emitting a signal, said system comprising: a receptor array, including at least three receptors (104 1, 104 2 and 104 3), said at least three receptors (104 1, 104 2 and 104 3) being associated with a plane, each one of said at least three receptors ( 104 1, 104 2 and 104 3) receiving said signal and producing a respective received signal; an imager, including an imaging sensor, said imaging sensor includes a plurality of pixels, each pixel being associated with a pixel unique identifier, said imager being at a fixed spatial relationship relative to said receptor array, the field of view of said imager and the field of view of said receptor array at least partially overlap one with respect to the other; a multi-channel receiver, each receptor (104 1, 104 2 and 104 3) being coupled with a respective channel in said multi-channel receiver, said multi-channel receiver at least including a correlator, said correlator determining inter-receptor characteristic models based on received signals at pairs of receptors; and a processor, coupled with said multi-channel receiver and with said imager, said processor determining a received signals characteristic model from said inter-receptor characteristic models, said system further being characterized by said processor further determining a pixel corresponding to the location of said emitter in said image according to a signal-to-pixel correspondence model optimizing an array-to-imager correspondence model, said array-to-imager correspondence model incorporating said received signals characteristic model and said signal-to-pixel correspondence model, wherein said optimizing comprises determining arguments of the maxima or minima of a function incorporating said received signals characteristic model and said signal-to-pixel correspondence model, and wherein said signal-to-pixel correspondence model being pre-determined by a calibration process or computationally. a receptor array, including at least three receptors (104 1, 104 2 and 104 3), said at least three receptors (104 1, 104 2 and 104 3) being associated with a plane, each one of said at least three receptors ( 104 1, 104 2 and 104 3) receiving said signal and producing a respective received signal; an imager, including an imaging sensor, said imaging sensor includes a plurality of pixels, each pixel being associated with a pixel unique identifier, said imager being at a fixed spatial relationship relative to said receptor array, the field of view of said imager and the field of view of said receptor array at least partially overlap one with respect to the other; a multi-channel receiver, each receptor (104 1, 104 2 and 104 3) being coupled with a respective channel in said multi-channel receiver, said multi-channel receiver at least including a correlator, said correlator determining inter-receptor characteristic models based on received signals at pairs of receptors; and a processor, coupled with said multi-channel receiver and with said imager, said processor determining a received signals characteristic model from said inter-receptor characteristic models, said system further being characterized by said processor further determining a pixel corresponding to the location of said emitter in said image according to a signal-to-pixel correspondence model optimizing an array-to-imager correspondence model, said array-to-imager correspondence model incorporating said received signals characteristic model and said signal-to-pixel correspondence model, wherein said optimizing comprises determining arguments of the maxima or minima of a function incorporating said received signals characteristic model and said signal-to-pixel correspondence model, and wherein said signal-to-pixel correspondence model being pre-determined by a calibration process or computationally.