A system for determining a location of a moving object in an enclosed space comprises at least one first transmitter adapted to be located in the enclosed space, wherein each of the first transmitters is operable to transmit a code associated with the first transmitter, wherein the code is representative of a coordinate in a predetermined coordinate system, a first receiver adapted to be located on a moving object, the receiver operable to receive the code, and a first processing unit adapted to be located on the moving object, the processing unit operable to process codes from the first receiver to determine the location of the moving object based on the code.