WO/2008/030116 is referenced by 87 patents.
The position of a dairy platform (1) is monitored using a compass (7). From this position and a known relationship between platform position and stall position, the position of a stall (2, 3, 4) can be determined. Cows (5) are identified using signals from RFID tags attached to the cows. These signals are monitored during a time period and the time distribution of ID reads is used to identify the time when a cow is closest to the reader (6) and to associate that cow with a particular stall in the dairy platform (1).