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In this project, time difference of arrival method is tried for localization and tracking wireless sensor networks. Radio communication frequency is 2.4GHz, ultrasound frequency is 40kHz. System is designed by similar 5 hardware, 3 of them for reference, one of them moving and one of them for interface hardware to send data to computer. Moving hardware's location is mapped live on a screen and its refresh frequency is 1Hz. Localization error is smaller than 5cm.