Method of estimating the time of arrival of a UWB pulse contained in an RF signal, said UWB pulse being modulated at a carrier frequency ( f 0): (a) reception of the RF signal and translation of the signal thus received in baseband using a first mix in quadrature (421,422) to provide a signal in phase ( S I) and a signal in quadrature ( S Q) with the signal of a first local oscillator, said signals in phase and in quadrature forming a baseband signal; (b) projection of the signal in phase ( S I) onto a base composed of first and second periodic signals orthogonal to each other, to provide first and second projection signals respectively ( S II, S IQ),said projection being made by means of a second mix in quadrature (441, 442) and an integration (471, 472) on a time window; (c) projection of the signal in quadrature ( S Q) onto said base, to provide third and fourth projection signals respectively ( S QI, S QQ),said projection being done by means of a third mix in quadrature (443, 444) and an integration (473, 474) on said time window; characterised in that it comprises: an estimate of the phase of the RF signal (φ RF (τ)) relative to the signal of the first local oscillator and an estimate of the phase of the baseband signal (φ BB (τ)relative to the first/second periodic signal, starting from the first, second, third and fourth projection signals, the time of arrival (τ̂ RF,τ̂ BB) of said pulse being obtained from the two phases thus estimated (φ̂ RF (τ),φ̂ BB (τ)). (a) reception of the RF signal and translation of the signal thus received in baseband using a first mix in quadrature (421,422) to provide a signal in phase ( S I) and a signal in quadrature ( S Q) with the signal of a first local oscillator, said signals in phase and in quadrature forming a baseband signal; (b) projection of the signal in phase ( S I) onto a base composed of first and second periodic signals orthogonal to each other, to provide first and second projection signals respectively ( S II, S IQ),said projection being made by means of a second mix in quadrature (441, 442) and an integration (471, 472) on a time window; (c) projection of the signal in quadrature ( S Q) onto said base, to provide third and fourth projection signals respectively ( S QI, S QQ),said projection being done by means of a third mix in quadrature (443, 444) and an integration (473, 474) on said time window; characterised in that it comprises: an estimate of the phase of the RF signal (φ RF (τ)) relative to the signal of the first local oscillator and an estimate of the phase of the baseband signal (φ BB (τ)relative to the first/second periodic signal, starting from the first, second, third and fourth projection signals, the time of arrival (τ̂ RF,τ̂ BB) of said pulse being obtained from the two phases thus estimated (φ̂ RF (τ),φ̂ BB (τ)). an estimate of the phase of the RF signal (φ RF (τ)) relative to the signal of the first local oscillator and an estimate of the phase of the baseband signal (φ BB (τ)relative to the first/second periodic signal, starting from the first, second, third and fourth projection signals, the time of arrival (τ̂ RF,τ̂ BB) of said pulse being obtained from the two phases thus estimated (φ̂ RF (τ),φ̂ BB (τ)).