Wide area positioning system

A positioning system comprising:

• a terrestrial transmitter network comprising a plurality of transmitters that broadcast positioning signals to a remote receiver;
• and
• a server that receives, for each of the positioning signals, a cross-correlation function generated by the remote receiver by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal;
• wherein:
• the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples left of a peak of the cross-correlation function and a second set of cross-correlation samples right of the peak of the cross-correlation function;
• the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a high resolution time of arrival measurement method that uses the vector of cross-correlation samples;
• and
• the server estimates a first position of the remote receiver based on the time of arrival estimate.