| CPC G01S 5/14 (2013.01) [G01S 2205/01 (2020.05)] | 14 Claims |

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1. An asset-tracking system for tracking a target tag in a space, wherein the asset-tracking system comprises a plurality of listener nodes arranged in the space, and wherein the asset-tracking system comprises a control system, wherein the control system has access to (i) listener location data and to (ii) map data, characterized in that in an operational mode:
the control system is configured to determine the presence of an object, wherein an object tag is associated to the object, and wherein the object tag and the plurality of listener nodes are configured to communicate via an object communication signal and to provide a related object signal to the control system;
the control system determines a confidence zone set for each listener node based on the related object signal, the listener location data and the map data;
the target tag and the plurality of listener nodes are configured to communicate via a target communication signal and to provide a related target signal to the control system; and
the control system determines a target tag location of the target tag based on the related target signal, the listener location data, the map data, and the confidence zone sets of the plurality of listener nodes.
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