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We propose in this paper, a communication and localisation system based on ad-hoc network associated to software defined radio, which is devoted to small and medium sized fishing boats in Vietnam. The system allows establishing communication and localisation means for position tracking, weather information services as well as other short message services between the fishing boats and the mainland for rescue mission. The positions of fishing boats are determined by GPS receiver or by TOA (time of arrival) and TDOA (time difference of arrival) localisation techniques. The localization process for small fishing boats is simulated and TOA/TDOA parameters for location purpose are estimated by the MUSIC (multiple signal classification) algorithm. The dynamic solution proposed has an effective cost in terms of equipment cost and of recurring one, which is suitable to Vietnamese fishermenpsilas income.