An embodiment of the invention is a method of accurately determining the spatial location of an RFID tag in two-dimensions or three-dimensions. The method utilizes a plurality of RFID readers to make a plurality of distance, direction, and or time-of-flight determinations. Such determinations are made by sending a request signal from one of the plurality of RFID readers and listening for a response signal from an RFID tag received at each of the plurality of RFID readers. Correction factors are then determined and the time-of-flight factors adjusted. The adjusted time-of-flight factors are then used to determine more accurately the distances between the RFID tag and each of the plurality of RFID readers. These more accurate distance measurements are then used to determine the spatial location of the RFID tag.