We present a system for centimeter-precision 3 dimensional localization of a 2×3×0.3 mm3, 5 mg, wireless system-on-chip by utilizing a temporally-structured infrared illumination scheme generated by a set of base stations. This 3D localization system builds on previous work by adding a second lighthouse station to enable 3D localization and using the integrated wireless radio, making the localization system fully wireless. We demonstrate 3D tracking with mean absolute errors of 1.54 cm, 1.50 cm,and 5.1 cm for the X, Y, and Z dimensions. This is the first time such a lighthouse localization system has been able to localize amonolithic single-chip wireless system.