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Real-time location tracking of mobile vehicles, people and items is of great significance in areas such as security, navigation and inventory control in supply chains. Most indoor location estimation methods use multiple base stations, which increases the system cost and complexity. In this work, the localization performance of ultra high frequency radio frequency identification (RFID) based system is investigated for indoor environments using the received signals' angle-of-arrival and return time information with a single base station. Preliminary results show that a single RFID reader in a 25 × 43 m area can perform location estimation with a distance error less than 2 m with 85 % probability.