Davey.... there was once said to have been a Roman watch tower or signal post.... possibly in the area you describe near where the Kirk Stones were. This area is known as Brass Castle and stands next to the Roman road/prehistroic track, which now survives as the Ilkley/Keithley Road.

I was never 100% sure, but I'm as certain as I can be that I found the remains of Bradup in 1988 n' that it survived the laying of the gas pipe nearby.