A method for determining a location of a wireless transmitting device transmitting a digitally modulated transmitted radio frequency signal. The method comprises, at spaced-apart receivers: generating a received radio frequency signal and including time tags therein responsive to the transmitted radio frequency signal, detecting a destination message signal responsive to the received radio frequency signal, comparing the destination message signal and the received radio frequency signal and determining a time of arrival of the destination message signal responsive to the step of comparing and responsive to the time tags. The method further comprises determining a pairwise time difference of arrival of the received radio frequency signal for two pairs of receivers and determining the location of the device responsive to the pairwise time difference of arrival.