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In this paper, we present 3DLoc: an integrated system of hardware and software toolkits for locating an 802.11-compliant mobile device in a three dimensional (3D) space. 3DLoc features two specialized antennas: an azimuth antenna and an elevation antenna, for detecting the azimuth and elevation angles of a mobile device respectively in real time. To improve positioning accuracy in real-world urban settings, we propose various signal processing techniques such as clustering and wavelet-transform based denoising, and present theoretical analysis of the accuracy of these techniques. With different antenna configurations, 3DLoc is able to track single or multiple targets in one round of azimuth scanning and elevation scanning. We conduct extensive experiments to demonstrate the efficiency and accuracy of 3DLoc. 3DLoc can be used in various applications, including wireless network forensics for locating anonymous criminal mobile devices.