We consider the problem of sensor node localization in a randomly deployed sensor network, using a mobile access point (AP). The mobile AP can be used to localize many sensors simultaneously in a broadcast mode, without a preestablished sensor network. We consider a multi-modal approach, combining radio and acoustics. The radio broadcasts timing, location information, and acoustic signal parameters. The acoustic emission may be used at the sensor to measure Doppler stretch, time delay, and angle of arrival. These measurements are individually sufficient to localize a sensor node, or they may be advantageously combined. We focus on the cases of Doppler and time delay. Sensor localization algorithms are developed, and performance analysis includes acoustic propagation effects caused by the turbulent atmosphere.