Exploiting radio frequency signals is promising for locating and tracking objects. Prior works focus on per-tag localization, in which each object is attached with one tag. In this paper, we propose a comprehensive localization and tracking scheme by attaching two RFID tags to one object. Instead of using per-tag localization pattern, adding one-more RFID tag to the object exhibits several benefits: 1) providing rich freedom in RFID reader's antenna spacing and placement; 2) supporting accurate calibration of the reader's antenna location and spacing, and 3) enabling fine-grained calculation on the orientation of the tags. All of these advantages ultimately improve the localization/tracking accuracy. Our extensive experimental results demonstrate that the average errors of localization and orientation of target tags are 6.415 cm and 1.330°, respectively. Our results also verify that the reader's antenna geometry does have impact on tag positioning performance.