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