A method for determining a physical position of a radio transmitter, comprising: - establishing a physical model for electromagnetic signal propagation within an electromagnetic environment; - receiving radio frequency signal power levels associated with the radio transmitter from one or more radio frequency sensors , wherein the received radio frequency signal power levels are clustered into clustered groups of radio frequency signal power levels prior to localization; - estimating parameters for one or more test locations within the electromagnetic environment, wherein the one or more test locations comprise a search grid throughout the electromagnetic environment, wherein the parameters correspond to the clustered groups of radio frequency signal power levels and are associated with the physical model, wherein estimating the parameters includes applying a pseudoinverse matrix technique, and wherein the parameters include: - a first parameter corresponding to a frequency associated with the radio frequency signal power levels, and - a second parameter associated with the distance between the radio transmitter and the one or more radio frequency sensors ; - determining one or more error metrics between respective received radio frequency signal power levels and the physical model for the one or more test locations; - establishing bounds on the parameters associated with the physical model to prune away physically impossible solutions; - optimizing the parameters associated with the physical model across the one or more test locations by selecting a smallest error metric of the one or more error metrics; and - establishing , based on the optimization of the parameters, a location estimate for the radio transmitter. - establishing a physical model for electromagnetic signal propagation within an electromagnetic environment; - receiving radio frequency signal power levels associated with the radio transmitter from one or more radio frequency sensors , wherein the received radio frequency signal power levels are clustered into clustered groups of radio frequency signal power levels prior to localization; - estimating parameters for one or more test locations within the electromagnetic environment, wherein the one or more test locations comprise a search grid throughout the electromagnetic environment, wherein the parameters correspond to the clustered groups of radio frequency signal power levels and are associated with the physical model, wherein estimating the parameters includes applying a pseudoinverse matrix technique, and wherein the parameters include: - a first parameter corresponding to a frequency associated with the radio frequency signal power levels, and - a second parameter associated with the distance between the radio transmitter and the one or more radio frequency sensors ; - a first parameter corresponding to a frequency associated with the radio frequency signal power levels, and - a second parameter associated with the distance between the radio transmitter and the one or more radio frequency sensors ; - determining one or more error metrics between respective received radio frequency signal power levels and the physical model for the one or more test locations; - establishing bounds on the parameters associated with the physical model to prune away physically impossible solutions; - optimizing the parameters associated with the physical model across the one or more test locations by selecting a smallest error metric of the one or more error metrics; and - establishing , based on the optimization of the parameters, a location estimate for the radio transmitter. <EOS>