With the overwhelming surge in position and context-aware applications, indoor localization has attracted tremendous attention in recent years. In this paper, we present an enhanced Time Difference of Arrival (TDoA) approach based on RSS-assisted Cross-correlation (RACC) method to mitigate the effect of multipath interference. Then, an integrated localization prototype implemented on Software Defined Radio (SDR) platform is constructed for validation of RACC. Experimental results demonstrate that the proposed system achieves decimeter range localization precision, providing a promising solution for tracking electronic terminals.