A tire sensor locating system for auto-location of tire-based sensors, the system comprising: a vehicle supported by a plurality of vehicle tires, each of the tires mounted to a wheel hub and each of the tires having a respective tire-based sensor operable to measure a tire air pressure; a receiver for receiving from one of the tire sensors a measured tire air pressure at an unidentified sensor location on the vehicle; a plurality of hub acceleration sensors mounted to the vehicle, characterised in that each hub acceleration sensor is operable to make a hub vertical acceleration measurement at a preset and known location on the vehicle for a respective one of the wheel hubs; the system comprising further: a chassis acceleration sensor mounted to a chassis of the vehicle, wherein the chassis acceleration sensor is operable to make a chassis vertical acceleration measurement for the vehicle chassis; an estimator model for deriving a tire vertical stiffness estimation from the hub vertical acceleration measurements and the chassis vertical acceleration measurement; a look-up table correlating tire vertical stiffness estimation against measured air pressure; and a processor operable to consult the look-up table and identify an assigned location of the one tire sensor from a correlation between the tire measured air pressure of the one tire and the tire vertical stiffness estimation of the one tire. a vehicle supported by a plurality of vehicle tires, each of the tires mounted to a wheel hub and each of the tires having a respective tire-based sensor operable to measure a tire air pressure; a receiver for receiving from one of the tire sensors a measured tire air pressure at an unidentified sensor location on the vehicle; a plurality of hub acceleration sensors mounted to the vehicle, characterised in that each hub acceleration sensor is operable to make a hub vertical acceleration measurement at a preset and known location on the vehicle for a respective one of the wheel hubs; the system comprising further: a chassis acceleration sensor mounted to a chassis of the vehicle, wherein the chassis acceleration sensor is operable to make a chassis vertical acceleration measurement for the vehicle chassis; an estimator model for deriving a tire vertical stiffness estimation from the hub vertical acceleration measurements and the chassis vertical acceleration measurement; a look-up table correlating tire vertical stiffness estimation against measured air pressure; and a processor operable to consult the look-up table and identify an assigned location of the one tire sensor from a correlation between the tire measured air pressure of the one tire and the tire vertical stiffness estimation of the one tire. a chassis acceleration sensor mounted to a chassis of the vehicle, wherein the chassis acceleration sensor is operable to make a chassis vertical acceleration measurement for the vehicle chassis; an estimator model for deriving a tire vertical stiffness estimation from the hub vertical acceleration measurements and the chassis vertical acceleration measurement; a look-up table correlating tire vertical stiffness estimation against measured air pressure; and a processor operable to consult the look-up table and identify an assigned location of the one tire sensor from a correlation between the tire measured air pressure of the one tire and the tire vertical stiffness estimation of the one tire.