This excellent site also explains how tapestry was woven.
The paper maps that inspired the tapestries
Christopher Saxon produced the most famous maps of English counties between 1573 and 1579.
The most famous tapestry is the Bayeux Tapestry, woven in 11th century France to celebrate William the Conqueror’s victory.
Gossipy site about Elizabeth I
Contemporary counties of Worcestershire and Gloucestershire shown on the woven tapestry map.
View Elizabethan Tapestry Map in a larger map