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When a contact has no GPS, estimate their position from RSSI observations through multiple repeaters: - 1 repeater: offset by RSSI distance in deterministic direction - 2 repeaters: weighted midpoint between circle intersections - 3+ repeaters: weighted centroid with inverse-square weighting (closer repeater observations dominate) Observations stored per-repeater (latest wins), max 8 per contact, expire after 30 minutes. Each incoming message updates the estimate.