Abstract: Some embodiments relate to a method for locating a mobile target for a tracking vehicle, including a first communication module in a first location on the tracking vehicle in order to determine a first distance measurement between the first location and the mobile target at a first time, and a second communication module at a second location on the tracking vehicle in order to determine a second distance measurement between the second location and the mobile target at a second time, and a processing module for determining a forecast of the movement of the tracking vehicle between the first and second times, and for determining a location of the mobile target relative to the tracking vehicle from the first and second distance measurements, taking into account the forecast, so as to compensate for the movement, between the first and second times.