A tracking system is described having at least two mobile transmitter/receivers (“transceivers”) which sense and respond to at least one tracking transceiver. The signals sent to and received from the mobile transceivers are analyzed to get a distance (range) that each is from the tracking transceiver. This can be converted into a position relative to the mobile transceivers. If there are enough transceivers, and at least one knows its absolute location, the absolute location of the mobile transceivers may be determined. Existing smartphones, cellphones, Wi-Fi routers, Bluetooth devices, and near-field devices that have on-board processors, can be modified to run executable code to implement the current invention. They may communicate using at least one of the modalities for tracking. These may be implemented in tracking the position and orientation of moving devices, such as a head-mounted display for virtual/Augmented Reality, automobiles, packages in a package delivery truck. The system may also be implemented to identify and keep track of the last known location of various objects.