  Positioning using wave signal measurements is used in several applications,
such as GPS systems, structure from sound and Wifi based positioning.
Mathematically, such problems require the computation of the positions of
receivers and/or transmitters as well as time offsets if the devices are
unsynchronized. In this paper, we expand the previous state-of-the-art on
positioning formulations by introducing Multiple Offsets Multilateration (MOM),
a new mathematical framework to compute the receivers positions with
pseudoranges from unsynchronized reference transmitters at known positions.
This could be applied in several scenarios, for example structure from sound
and positioning with LEO satellites. We mathematically describe MOM,
determining how many receivers and transmitters are needed for the network to
be solvable, a study on the number of possible distinct solutions is presented
and stable solvers based on homotopy continuation are derived. The solvers are
shown to be efficient and robust to noise both for synthetic and real audio
data.
