A precision pulse detection system for time-of-flight sensors detects a zero axis crossing of a pulse after it crosses above and then falls below a threshold. Transmit and receive pulses flow through a common expanded-time receiver path to precision transmit and receive pulse detectors in a differential configuration. The detectors trigger on zero axis crossings that occur immediately after pulse lobes exceed and then drop below a threshold. Range errors caused by receiver variations cancel since transmit and receive pulses are affected equally. The system exhibits range measurement accuracies on the order of 1-picosecond without calibration even when used with transmitted pulse widths on the order of 500 picoseconds. The system can provide sub-millimeter accurate TDR, laser and radar sensors for measuring tank fill levels or for precision radiolocation systems including digital handwriting capture.