1. A method for dynamically tracking the location of mobile nodes in a wireless network comprising: for each said mobile node, dynamically measuring the range between said mobile node and at least one neighbouring node; and executing a Bayesian tracking algorithm for each mobile node, said algorithm having said measured range as an input, exchanging data with tracking algorithms for neighbouring mobile nodes, and utilising a statistical model of error in measured range and a statistical model of node motion to dynamically determine location.