Abstract: A method for location determination in a wireless communications system solves a minimization problem using estimated time-of-arrivals (TOAs) of reference signals [108, 110, 112] received by a receiving node [100] from transmitting nodes [102, 104, 106] and predetermined locations of the transmitting nodes, to produce an estimate of unknown receiving node location and/or an estimate of an unknown time of transmission (t) of the reference signals. The minimization problem is defined in terms of a theoretical system model of time-of-arrivals (TOAs), linearized globally as a function of the unknown receiving node location, the unknown time of transmission (t) of the reference signals, and an additional intermediate variable (u) that defines a non-linear quadratic constraint over position coordinates of the unknown receiving node location and the time of transmission (t) of the reference signals, wherein the minimization problem optimizes the additional intermediate variable (u).