A method for integrating signals transmitted from a transmitter to at least one ultra wide band receiver, includes initializing a measurement by estimating an initial clock drift ΔDHinit between said transmitter and said at least one ultra wide band receiver, thereby generating an estimated clock drift, executing an iterative loop, wherein executing said iterative loop comprises integrating at least one received primary signal, said at least one received primary signal composed of at least two samples, wherein integrating said at least one received primary signal comprises a first integration, and at least one of a second integration and a third integration, wherein said first integration uses said estimated clock drift, said second integration uses said estimated clock drift increased by a predetermined value, and said third integration uses said estimated clock drift decreased by a predetermined value, and selecting from among said integrations an integration that maximizes a quality criterion.