A method for estimating a range of a moving target includes emitting, from a target, a first ultrasound signal T, wherein the first ultrasound signal T is generated based on a first differential Zadoff-Chu sequence x; receiving, at a receiver, a second ultrasound signal R, which corresponds to the first ultrasound signal T, wherein the second ultrasound signal R includes a second differential Zadoff-Chu sequence y; applying a maximum likelihood estimator to the first ultrasound signal T and the second ultrasound signal R to calculate an initial time of flight estimate taucorr; and calculating an initial range estimate dcorr of the target by multiplying the initial time of flight estimate taucorr with a speed of sound c. A differential Zadoff-Chu sequence is different from a Zadoff-Chu sequence.