  Localization of networked nodes is an essential problem in emerging
applications, including first-responder navigation, automated manufacturing
lines, vehicular and drone navigation, asset navigation and tracking, Internet
of Things and 5G communication networks. In this paper, we present Locate3D, a
novel system for peer-to-peer node localization and orientation estimation in
large networks. Unlike traditional range-only methods, Locate3D introduces
angle-of-arrival (AoA) data as an added network topology constraint. The system
solves three key challenges: it uses angles to reduce the number of
measurements required by 4x and jointly use range and angle data for location
estimation. We develop a spanning-tree approach for fast location updates, and
to ensure the output graphs are rigid and uniquely realizable, even in occluded
or weakly connected areas. Locate3D cuts down latency by up to 75% without
compromising accuracy, surpassing standard range-only solutions. It has a 10.2
meters median localization error for large-scale networks (30,000 nodes, 15
anchors spread across 14km square) and 0.5 meters for small-scale networks (10
nodes).
