In accordance with one or more aspects of the present disclosure, a method for ranging of a PRN receiver including generating, at a PRN transmitting device that includes a processor and wireless transmitter and is in a line-of-sight position with the PRN receiver, at least two component codes, time shifting, with the processor of the PRN transmitting device, the at least two component codes relative to each other to form time shifted component codes, wirelessly transmitting, with the PRN transmitting device, the time shifted component codes to the PRN receiver with a predetermined modulation, and receiving the time shifted component codes with the PRN receiver that includes a PRN receiver processor, and determining a range estimate of the PRN receiver based on a combination of the time shifted component codes with the PRN receiver processor.