Abstract: Apparatus and methods for rapid and improved accuracy acoustic position determination comprising simultaneous and mutually distinguishable wide-band acoustic transmissions emitted from a plurality of spatially diverse transmitters and reception thereof by one or more receivers. The receivers identify the transmitters by directly (non-demodulated) correlating the received signal against stored or regenerated replicas of the transmitted signals. The location of the receiver is determined relative to the identified transmitter locations according to the measured times-of-flight from the identified transmitters to the receiver. Further embodiments of the method and apparatus of the present invention provides yaw, pitch and roll determination with a plurality of co-located receivers, and an extended and enhanced operating area.