Terrestrial positioning system and method for improved terrestrial positioning

A method for improving terrestrial positioning, the method comprising:

• determining initial terrestrial positioning information of a first mobile terrestrial transmitter and storing the initial terrestrial positioning information in a memory of a stationary synchronization master;
• determining altered positioning information using a built-in inertial measurement unit (IMU) of the first mobile terrestrial transmitter;
• broadcasting, by the first mobile terrestrial transmitter, a positioning signal to the synchronization master, the positioning signal including a timestamp of the broadcast timing derived from a built-in local clock source of the first mobile terrestrial transmitter and the determined altered positioning information;
• calculating, by the synchronization master, an expected time of flight of the received positioning signal from the first mobile terrestrial transmitter based on the determined altered positioning information and the stored initial positioning information;
• determining, by the synchronization master, a deviation of the actual time of flight determined from the timestamp and the actual reception time of the received positioning signal with respect to the calculated expected time of flight;
• and
• sending, by the synchronization master, a synchronization signal back to the first mobile terrestrial transmitter instructing the first mobile terrestrial transmitter to delay or prepone the broadcast of the positioning signal by the determined deviation.