A method of determining the location of a wireless device (10,30,214), the method comprising: generating a first beacon (38,204) from a first anchor node (32,202) having a known location, the first beacon (38,204) including a series of data packets, at least a first packet of the first beacon (38,204) including an indication of the source and the direction of the first beacon (38,204) at the time the first data packet is generated; generating a second beacon (40,212) from a second anchor node (34,210) having a known location, the second beacon (40,212) including a series of data packets, at least a second packet of the second beacon (40,212) including an indication of the source and the direction of the second beacon (40,212) at the time the second data packet is generated; capturing the first data packet and the second data packet with the wireless device (10,30,214); and estimating the position of the wireless device (10,30,214) with respect to the first and second anchor nodes (32,34,202,210); wherein the first and second beacons (38,40,204,212) are spatially narrow beacons; and characterized in that the step of capturing the first data packet and the second data packet includes the steps of: capturing a third data packet also generated by the first anchor node (32,202) and including an indication of the source and direction of the first beacon (38,204) at the time the third data packet is generated; observing the signal strength of the first beacon (38,204) at the time of receipt of the first data packet and the third data packet; and selecting the first data packet or the third data packet for use in the estimating step based upon the observed signal strength at the time of receipt of the first data packet and the third data packet, wherein the data packet having the strongest signal strength is selected. generating a first beacon (38,204) from a first anchor node (32,202) having a known location, the first beacon (38,204) including a series of data packets, at least a first packet of the first beacon (38,204) including an indication of the source and the direction of the first beacon (38,204) at the time the first data packet is generated; generating a second beacon (40,212) from a second anchor node (34,210) having a known location, the second beacon (40,212) including a series of data packets, at least a second packet of the second beacon (40,212) including an indication of the source and the direction of the second beacon (40,212) at the time the second data packet is generated; capturing the first data packet and the second data packet with the wireless device (10,30,214); and estimating the position of the wireless device (10,30,214) with respect to the first and second anchor nodes (32,34,202,210); wherein the first and second beacons (38,40,204,212) are spatially narrow beacons; and characterized in that the step of capturing the first data packet and the second data packet includes the steps of: capturing a third data packet also generated by the first anchor node (32,202) and including an indication of the source and direction of the first beacon (38,204) at the time the third data packet is generated; observing the signal strength of the first beacon (38,204) at the time of receipt of the first data packet and the third data packet; and selecting the first data packet or the third data packet for use in the estimating step based upon the observed signal strength at the time of receipt of the first data packet and the third data packet, wherein the data packet having the strongest signal strength is selected. capturing a third data packet also generated by the first anchor node (32,202) and including an indication of the source and direction of the first beacon (38,204) at the time the third data packet is generated; observing the signal strength of the first beacon (38,204) at the time of receipt of the first data packet and the third data packet; and selecting the first data packet or the third data packet for use in the estimating step based upon the observed signal strength at the time of receipt of the first data packet and the third data packet, wherein the data packet having the strongest signal strength is selected.