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This paper describes a double time difference of arrival (DTDOA) method with Kalman filtering for tracking a mobile node in an ad hoc network. The DTDOA method relies on a double time difference of data arrival without time synchronization of various nodes of the system. The Kalman filtering is applied to smooth the results for static node location as well as to predict a mobile node trajectory. The validity of this method is demonstrated in an example of a simple ad hoc network.