A receiving device captures sounds signals (e.g., ultrasonic) from multiple sound signal sources, selects the sound signals satisfying a reliability condition for use in determining an initial position of the receiving device relative to the corresponding sound signal sources, determines the initial position of the receiving device using multilateration of the selected sound signals, and updates the current position of the receiving device as the reliability of individual sound signals varies in the presence of dynamically changing environmental interference, multipathing, and movement between the receiving device and the sound signal sources.