A method of determining a location of a plurality of at least four audio devices in an environment, each audio device configured to detect signals produced by a different audio device of the plurality of audio devices, the method comprising: for each audio device of the plurality of audio devices, obtaining direction of arrival, DOA, data based on a detected direction of the signals produced by another audio device of the plurality of audio devices in the environment; determining interior angles for each of a plurality of triangles based on the direction of arrival data, each triangle of the plurality of triangles having vertices that correspond with locations of three of the plurality of audio devices; determining a side length for each side of each of the triangles based on the interior angles and on the signals produced by the audio devices separated by the side length to be determined, or determining the side length for each side of each of the triangles based on the interior angles by setting one side length of the triangle to a predetermined value and then determining the other side lengths of the triangle based on the interior angles; performing a forward alignment process of aligning each of the plurality of triangles in a first sequence, to produce a forward alignment matrix, wherein the forward alignment process is performed by forcing a side length of each triangle to coincide with a side length of an adjacent triangle and maintaining the interior angles determined for the adjacent triangle; performing a reverse alignment process of aligning each of the plurality of triangles, to produce a reverse alignment matrix, wherein the reverse alignment process is performed as the forward alignment process but in a second sequence that is the reverse of the first sequence; and producing a final estimate of each audio device location based, at least in part, on values of the forward alignment matrix and values of the reverse alignment matrix. for each audio device of the plurality of audio devices, obtaining direction of arrival, DOA, data based on a detected direction of the signals produced by another audio device of the plurality of audio devices in the environment; determining interior angles for each of a plurality of triangles based on the direction of arrival data, each triangle of the plurality of triangles having vertices that correspond with locations of three of the plurality of audio devices; determining a side length for each side of each of the triangles based on the interior angles and on the signals produced by the audio devices separated by the side length to be determined, or determining the side length for each side of each of the triangles based on the interior angles by setting one side length of the triangle to a predetermined value and then determining the other side lengths of the triangle based on the interior angles; performing a forward alignment process of aligning each of the plurality of triangles in a first sequence, to produce a forward alignment matrix, wherein the forward alignment process is performed by forcing a side length of each triangle to coincide with a side length of an adjacent triangle and maintaining the interior angles determined for the adjacent triangle; performing a reverse alignment process of aligning each of the plurality of triangles, to produce a reverse alignment matrix, wherein the reverse alignment process is performed as the forward alignment process but in a second sequence that is the reverse of the first sequence; and producing a final estimate of each audio device location based, at least in part, on values of the forward alignment matrix and values of the reverse alignment matrix. <EOS>