  In this paper, a positioning technique based on Time Difference of Arrival
(TDoA) measurements is analyzed. The proposed approach is designed to consent
range and position estimation, using ultrasound transmissions of a stream of
chirp pulses, received by a set of wireless nodes. A potential source of
inaccuracy introduced by lack of synchronization between transmitting node and
receiving nodes is identified and characterized. An algorithm to identify and
correct such inaccuracies is presented.
