A method for platform relative navigation using range measurements involves four or more transmitters of positioning signals located on and/or near a platform of a first object and a second object approaching the platform that includes three or more receivers for receiving the positioning signals. For each received positioning signal, a range measurement between the transmitter of the positioning signal and the receiver of the positioning signal is performed. The relative position and relative attitude of a body frame of the second object is estimated with regard to the first object by processing the range measurements with a state space estimation algorithm implementing a model of the system of the first and second object.