A method for timing sensing of localization signals by an in-vivo device comprising a timing unit , the method comprising: defining, by the timing unit , a work cycle of the in-vivo device , the work cycle including a sensing window during which the in-vivo device is configured to receive localization signals, the timing unit timing the work cycle using a clock signal and defining within the work cycle a reference time; operating the in-vivo device during the work cycle to: (i) transmit a data frame from the in-vivo device to an external receiver , the data frame comprising data enabling generation by the external receiver of a synchronization signal for an external localization signals source based on the clock signal, the reference time, and on time specifics of the sensing time window; (ii) measure time elapsing from the reference time by using the clock signal; (iii) sense, based on the elapsed time, during a time period complying with the time specifics of the sensing time window, one or more localization signals transmitted to the in-vivo device by the external localization signals source at times and for durations specified by the synchronization signal , the synchronization signal to cause the external localization signals source to transmit only during a time period overlapping with the sensing window of the work cycle of the in-vivo device ; and producing, by the in-vivo device , localization data from the sensed localization signals. defining, by the timing unit , a work cycle of the in-vivo device , the work cycle including a sensing window during which the in-vivo device is configured to receive localization signals, the timing unit timing the work cycle using a clock signal and defining within the work cycle a reference time; operating the in-vivo device during the work cycle to: (i) transmit a data frame from the in-vivo device to an external receiver , the data frame comprising data enabling generation by the external receiver of a synchronization signal for an external localization signals source based on the clock signal, the reference time, and on time specifics of the sensing time window; (ii) measure time elapsing from the reference time by using the clock signal; (iii) sense, based on the elapsed time, during a time period complying with the time specifics of the sensing time window, one or more localization signals transmitted to the in-vivo device by the external localization signals source at times and for durations specified by the synchronization signal , the synchronization signal to cause the external localization signals source to transmit only during a time period overlapping with the sensing window of the work cycle of the in-vivo device ; and (i) transmit a data frame from the in-vivo device to an external receiver , the data frame comprising data enabling generation by the external receiver of a synchronization signal for an external localization signals source based on the clock signal, the reference time, and on time specifics of the sensing time window; (ii) measure time elapsing from the reference time by using the clock signal; (iii) sense, based on the elapsed time, during a time period complying with the time specifics of the sensing time window, one or more localization signals transmitted to the in-vivo device by the external localization signals source at times and for durations specified by the synchronization signal , the synchronization signal to cause the external localization signals source to transmit only during a time period overlapping with the sensing window of the work cycle of the in-vivo device ; and producing, by the in-vivo device , localization data from the sensed localization signals. <EOS>