The key issues in ubiquitous sensor networks for context awareness is location-tracking. The main goal of location-tracking is to find the position of a moving object. In this paper, we describes the design and implementation of ICLS (Intelligent Cricket-based Location System). Especially, a more accurate location-tracking system using a sensor fusing mechanism is proposed herein. The benefits of sensor fusion are that it can obtain more accurate, complete, or dependable results. ICLS employs an ltrasonic sensor for ranging by time-of-flight measurements and uses a magnetic sensor to detect obstacles. To yield a more accurate navigation, a novel pass finding algorithm is also proposed in this paper. The results of the experiment that was conducted in this study show that a mobile robot moves towards a destination with a high degree of accuracy.