Abstract: Systems and methods are disclosed for improving the speed and accuracy of terrestrial tracking with more than one receiver. Furthermore, terrestrial tracking of more than one receiver can be improved in areas where terrestrial tracking has been difficult to accomplish with acceptable accuracy, such as in rural areas where buildings can reflect satellite, and other, signals. For example, fast and precise position estimation in a short delay multipath environment can be solved by simultaneously estimating the position of multiple receivers using receiver to receiver distance ranges.