1) Turn ignition on and stick her in reverse, get down and listen to each sensor you should her them clicking away, the one(s) that aren't are the culprit. (You don't need to listen to them just whilst the constant tone in the car is audible).
2) Pop the rear bar the sensors are in off. This will make it so much easier as the connectors are quite difficult to do up one handed and if your on your back trying to do either of the end ones you might not be able to get both hands to them.

3) Get the old sensor out. This was easier than I first thought, just lift the one tab and push the sensor from the opposite side.
4) Put the new sensor in and connect up.
5) Put the sensor bar back on the car.

That was it, 15 minute job at the most and no annoying tones when I go to reverse!
