In this paper, the authors propose a wireless ad-hoc localization system where each node is assumed to be equipped with ranging (RSSI/TDoA) and AoA capability. Using these capabilities each node can measure distance and bearing of neighboring nodes. These measurements are supplied to each connected nodes in the network. Using the measurements of each neighboring node pairs, a node can construct a whole network coordinate map, where the location of every node is shown relative to a reference point (i.e. the nodes own location).