The technology enables locating asset tracking tags based on one or more beacon signals from at least one anchor beacon. Each of the beacon signals including anchor beacon identification information and being associated with a received signal strength upon receipt at a reader device. The anchor beacon identification information being associated with a physical location of the anchor beacon. A position of the reader device is estimated according to the received signal strength of the one or more beacon signals and the physical location of the at least one anchor beacon from the anchor beacon identification information. One or more signals from an asset tracking tag are detected by the reader device. A location of the asset tracking tag is identified based on the estimated position of the reader device and signal strength information for each of the one or more detected signals from the asset tracking tag.