Method for determining a clock frequency offset between a first device having a first clock and at least one second device having at least one second clock, the method comprising: - receiving, by the at least one second device, at least one first message from the first device, wherein information regarding a time of departure of the at least one first message is in the at least one first message; - determining, by the at least one second device, a time of arrival of the at least one first message; - receiving, by the at least one second device, at least one second message from the first device, wherein information regarding a time of departure of the at least one second message is in the at least one second message; - determining, by the at least one second device, a time of arrival of the at least one second message; and - determining a clock frequency offset between the first clock and the at least one second clock based on the time of departure of the at least one first message, the time of arrival of the at least one first message, the time of departure of the at least one second message, and the time of arrival of the at least one second message, wherein the clock frequency offset between the first clock and the at least one second clock is determined according to the following formula: f 0 BA = ta 2 B − ta 1 B − td 2 A − td 1 A td 2 A − td 1 A - wherein: f 0 BA is the clock frequency offset between the first clock and the at least one second clock, ta 2 B is the time of arrival of the at least one second message, ta 1 B is the time of arrival of the at least one first message, td 2 A is the time of departure of the at least one second message, and td 1 A is the time of departure of the at least one first message. - receiving, by the at least one second device, at least one first message from the first device, wherein information regarding a time of departure of the at least one first message is in the at least one first message; - determining, by the at least one second device, a time of arrival of the at least one first message; - receiving, by the at least one second device, at least one second message from the first device, wherein information regarding a time of departure of the at least one second message is in the at least one second message; - determining, by the at least one second device, a time of arrival of the at least one second message; and - determining a clock frequency offset between the first clock and the at least one second clock based on the time of departure of the at least one first message, the time of arrival of the at least one first message, the time of departure of the at least one second message, and the time of arrival of the at least one second message, wherein the clock frequency offset between the first clock and the at least one second clock is determined according to the following formula: f 0 BA = ta 2 B − ta 1 B − td 2 A − td 1 A td 2 A − td 1 A - wherein: f 0 BA is the clock frequency offset between the first clock and the at least one second clock, ta 2 B is the time of arrival of the at least one second message, ta 1 B is the time of arrival of the at least one first message, td 2 A is the time of departure of the at least one second message, and td 1 A is the time of departure of the at least one first message.