An apparatus and a method for simultaneous localization of multiple targets in 3-D cooperative wireless sensor networks (WSNs), utilizing combined measurements of received signal strength (RSS) and angle of arrival (AoA) are disclosed herein. By exploiting the convenient nature of spherical representation of the considered problem, the measurement models are linearized and a sub-optimal estimator is formulated. The method disclosed herein has a straightforward adaptation to the case where the target's transmit power is also not known. A representative set of simulations and experiments verify the potential performance improvement realized with embodiments of the method for RSS/AoA network localization in 3-D space.