Abstract: A system and method enabling precise range estimation and time synchronization between a first object such as a vehicle having a primary communications mechanism and an interconnected first controller, and a second object having a secondary communications mechanism and an interconnected second controller. The primary sends communications into the environment and the secondary receives them; the secondary then sends replies to the primary. The communications have information for determining range between the two objects and for comparing the second object's internal clock with a more accurate clock of the first object. Repeated exchanges of communications between the two objects enables additional precision of range as well as time synchronization information.