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This thesis documents the design, implementation, and testing of a real-time localisation system prototype that can operate in a warehouse environment. ... The real-time localisation system prototype was constructed and then tested in a warehouse environment. ... Semtech Corporation describes a TDoA method of localisation in relations to their LoRa Alliance technologies, but no papers or hardware referencing are accessible at the time of this writing. ...doi:10.26021/3138 fatcat:hgf46ivulza6rjtdmembw5lgt4