There has been great interest in using position location systems for indoor environments. Indoor environments present many challenges to using wireless localisation systems, due to the interference caused by metal beams and walls present. Current position localisation systems use wireless channel propagation characteristics, such as receive signal strength to localise a user's position. We present an inexpensive and robust wireless localisation network that can track the location of users in an indoor environment. Our localisation network uses a dynamic position tracking model to improve the real-time tracking of mobile nodes. The localisation network uses the Zigbee/802.15.4 wireless communications protocol. Reference nodes are placed at known positions in a building. The reference nodes are used by mobile nodes, carried by users to localise their position. Further work involves improving the dynamic position tracking model by incorporating the use of motion sensors to aid tracking and to investigate how large numbers of active users can be supported.