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The tutorial presents an overview of the techniques currently used for mobile localization. First, a brief overview of the location based services and the localization systems and techniques, currently in use, is provided. Then, the focus will be on the localization techniques based on the TOA (time of arrival) and AOA (angle of arrival). In particular, we will discuss the main issues of NLOS (non-line of sight) and hearing problems. The final part of the tutorial is dedicated to a brief presentation of the algorithms and techniques than can be considered for the estimation and tracking of the mobile position.