A method for detecting times-of-arrival of signals comprising, at a receiving node: during a time slot, receiving a signal comprising a carrier signal characterized by a carrier frequency and modulated by a template signal defining a code sequence characterized by a transmitter chip period; demodulating the signal according to a local oscillator frequency to generate a received baseband signal, the local oscillator frequency and the carrier frequency defining a desynchronization ratio characterized by a denominator greater than a threshold denominator; sampling the received baseband signal at the transmitter chip period to generate a set of digital samples; generating a reconstructed baseband signal based on the set of digital samples; calculating a cross-correlation function comprising a cross-correlation of the reconstructed baseband signal and the template signal; and calculating, on the fine time grid, a time-of-arrival of the signal based on the cross-correlation function.