This paper proposes a new localization algorithm, which can get the position and orientation of an object in the limited area, like indoor and in-vivo scenarios. The prototype of our localization model is based on the RF Signal Strength. Different from other indoor localization methods, our method can realize the 5-Dimensional (5D) localization and tracking for the target. To apply our method in real localization system and obtain the best performance, there are many problems to solve, e.g. setting the initial value for the algorithm, estimating the noises in the environment, modeling the absorption and reflection of the electromagnetic wave in special scenarios, and etc. We designed the appropriate algorithm and tested its anti-interference properties, and the simulation results show that our method is feasible and has good anti-interference property.