A method for determining a location of a radio frequency RF transmitter in the presence of multipath interference, the method comprising the procedures of: providing a plurality of spatially separated RF receivers (134, 136, 138) at known locations in a moderate multipath environment in the vicinity of said transmitter; and detecting an active RF signal associated with said transmitter received by said receivers, and directing said receivers to acquire measurements of the detected RF signal, characterized in that the method further comprises the procedures of: repeatedly repositioning the respective receivers (134, 136, 138) along respective circular trajectories (144, 146, 148) at a sufficiently rapid rate to obtain a sequence of measurements of the RF signal by each of the respective receivers at different positions along its respective circular trajectory at a diversity of relative phase differences between the direct-path and the multipath reflections of the RF signal; calculating time difference of arrival (TDOA) measurements between pairs of said receivers based on the obtained measurements; averaging the TDOA measurements for each of said pairs of receivers to provide a respective updated TDOA measurement value; and determining a location of said transmitter based on the updated TDOA measurement values. providing a plurality of spatially separated RF receivers (134, 136, 138) at known locations in a moderate multipath environment in the vicinity of said transmitter; and detecting an active RF signal associated with said transmitter received by said receivers, and directing said receivers to acquire measurements of the detected RF signal, characterized in that the method further comprises the procedures of: repeatedly repositioning the respective receivers (134, 136, 138) along respective circular trajectories (144, 146, 148) at a sufficiently rapid rate to obtain a sequence of measurements of the RF signal by each of the respective receivers at different positions along its respective circular trajectory at a diversity of relative phase differences between the direct-path and the multipath reflections of the RF signal; calculating time difference of arrival (TDOA) measurements between pairs of said receivers based on the obtained measurements; averaging the TDOA measurements for each of said pairs of receivers to provide a respective updated TDOA measurement value; and determining a location of said transmitter based on the updated TDOA measurement values. repeatedly repositioning the respective receivers (134, 136, 138) along respective circular trajectories (144, 146, 148) at a sufficiently rapid rate to obtain a sequence of measurements of the RF signal by each of the respective receivers at different positions along its respective circular trajectory at a diversity of relative phase differences between the direct-path and the multipath reflections of the RF signal; calculating time difference of arrival (TDOA) measurements between pairs of said receivers based on the obtained measurements; averaging the TDOA measurements for each of said pairs of receivers to provide a respective updated TDOA measurement value; and determining a location of said transmitter based on the updated TDOA measurement values.