Abstract: Method for determining an arrival time of a RF ranging signal at a ranging receiver, comprising receiving at least one RF ranging signal via a plurality of antennas comprised by the ranging receiver, providing a plurality of antenna signals, each comprising at least a section of the ranging signal as received either by a respective one of the antennas or by a linear combination of at least two of the antennas, determining respective candidate arrival times of the at least one ranging signal from at least two of the antenna signals and determining the arrival time of the at least one ranging signal as the earliest candidate arrival time.