In this work, a novel distance estimation mechanism using received signal strength indication (RSSI) signals with ZigBee modules is designed, implemented and tested in several scenarios. This estimator was used for a research project focused on a wildlife behavioral classification system deployed in Doñana's National Park. As a supporting feature for that project, this work was implemented for locating animal's collars acting as wireless nodes in order to find those who went outside of the coverage area of the network or that were accidentally detached from animals. This work describes the system architecture and the implementation of a mobile assistant capable of recovering devices located beyond the coverage of the network. The analytical model needed for distance estimation and the signal filtering are described, as well as the difficulties that the researchers must deal when building robust location estimators. This theoretical model was applied to three different scenarios and tested with two validation experiments.Finite-difference time-domain [12], or Artificial Networks [13] are much better when estimating position in terms of accuracy than other models, but, as mentioned above, at the expense of a high computation cost [14]. Other models (e.g., Reference [15]) are well accepted for network deployment of cellular devices (≤1.5 GHz) but not suitable for higher frequencies.The log-normal model, together with the free-space model [16] are some of the most used models operating at 2.5 GHz for being the calculation procedure simple [4] (at distances greater than the length of the antenna and the wavelength) but at the expense of a lower accuracy. One alternative is 2RM (2-Ray Model) [4], which includes this length as one of the parameters to calculate two possible signal paths. An improved version of this model can be found at [17] but the improvements over the log-normal model are only present at d ≥ 4πH rx H tx , which in our case is more than 250 m (when setting the maximum height of the antennas that were used in this work at 160 cm). Further details about the position of the antenna can be found in Section 2.5.This work presents a relative distance estimator for Wireless Sensor Network devices operating at 2.5 GHz using the 802.15.4 standard [18], on which the target device is a wildlife tracking and behavior classifying device that is attached to an animal by means of a collar. The distance estimator is used to locate collars belonging to animals that are not moving, or collars that have been abandoned by the animals to which they belonged, or even collars that have gone outside of the coverage area of the WSN. On the other hand, the locating device (that uses the distance estimator algorithm) is used by an operator that moves overland with a WSN node that acts as a 802.15.4 wireless packet sniffer. To justify this development, the propagation model and filters used are shown together with two ways to deal with signal measurement variability and uncertainty. In Section 3, we present the data obtained fro...