Abstract: A system and method in which one or more acoustic projectors transmit broad bandwidth waveforms having known characteristics, and one or more acoustic receivers detect the transmitted waveforms, with the measurement of a propagation time from the projectors to the receivers being based on knowledge of the transmitted waveforms. The measurements are performed such that there is a low probability that other third party receivers will detect the transmission. The measurements may also be performed in an environment supporting multiple propagation paths. The system and method may further measure the Doppler shift induced by relative motion between the acoustic projector and the acoustic receiver.