Systems, methods, and devices of the various embodiments may provide for synchronizing clocks across a distributed network of nodes. Various embodiments include an autonomous distributed fault-tolerant local positioning system, a fault-tolerant GPS-independent autonomous distributed local positioning system, for static and/or mobile objects, and/or solutions for providing highly-accurate geo-location data for static and/or mobile objects in dynamic environments. Various embodiments enable faulty Echo message recovery using trilateration from locally time-stamped events obtained from other nodes in a distributed network of nodes. Using the faulty Echo message recovery techniques, in addition to clock synchronization various embodiments may enable object detection and location.