1. A computer-implemented process for performing localization of one or more mobile devices, comprising: using a computing device for: recording measurements of received signal strength indication (RSSI) from each Radio Frequency (RF) transmitter reported by a mobile device; recording measurements of any available location fix by the mobile device; using a RF propagation model, prepared without prior knowledge of the physical space in which the mobile device is located or the location and power of the RF transmitters, to estimate parameters comprising: the location of the mobile device, the transmit power of each RF transmitter, and the location of each RF transmitter based on the recorded measurements of received signal strength indication and any available location fixes; and using trilateration to determine the location of the mobile device from the estimated location of the RF transmitters and the estimated parameters.