A method for determining the position of a mobile or asset in an indoor location in a radio frequency system, the method comprising: a) generating a Wi-Fi multi-band fingerprint database using at least one multi-band Wi-Fi access point configured to simultaneously transmit multiple frequency band wireless signals; b) selecting a most probable frequency band having the highest probability function for a target location of the mobile or asset given one or more measured signals; c) selecting one or more fingerprints from the Wi-Fi multi-band fingerprint database in dependence on the selected frequency band and selecting a measured signal that is needed to determine the location in dependence on the said most probable frequency band for each Wi-Fi access point; and d) comparing the selected measured signal and the selected one or more fingerprints to determine the location of the measured signal in dependence on a location estimation algorithm.
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