Described herein is a method of setting-up a range-based tracking system utilising a tracking coordinate system that uses a plurality of spaced apart stationary nodes for tracking objects within a tracking environment. The method includes the step of transmitting signals between the stationary nodes to obtain range information between at least a subset of pairs of the nodes and determining coordinates for all of the stationary nodes in a node coordinate system using these range information. The method also includes the step of obtaining spatial information related to at least one of the nodes, the spatial information being indicative of one or more features or locations within the tracking environment and determining the location of all stationary nodes in the tracking coordinate system, wherein some or all of the coordinates of the stationary nodes are used for tracking objects in the tracking system.
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