Abstract: The present invention provides a method by which the position of a wireless emitter can be estimated by using a minimum of two wireless transceiver devices. The invention relies on physically moving the wireless transceiver devices to new position locations in order to obtain multiple time difference of arrival measurements. The time difference of arrival measurements can then be combined to derive estimates for the position of the emitter. At least one of the two wireless transceiver devices needs to be mobile with the other one fixed. Using this invention, any proportion of mobile and fixed transceiver devices can be used to derive the position of a wireless emitter. The wireless emitter to be located is not assumed to provide any information about itself to the wireless transceivers used for estimating its position location. The method is referred here as a Mobile-TDOA method or M-TDOA.