  Many applications require positioning. Time of Flight (ToF) methods calculate
distances by measuring the propagation time of signals. We present a novel ToF
localization method. Our new approach works infrastructure-less, without
pre-defined roles like Anchors or Tags. It generalizes existing
synchronization-less Time Difference of Arrival (TDoA) and Time of Arrival
(ToA) algorithms. We show how known algorithms can be derived from our new
method. A major advantage of our approach is that it provides a comparable or
better clock error robustness, i.e. the typical errors of crystal oscillators
have negligible impact for TDoA and ToA measurements. We show that our channel
usage is for most cases superior compared to the state-of-the art.
