1. A method of estimating a position of an object, comprising: receiving a plurality of signals transmitted between each of a respective plurality of reference stations of known position and the object; for each received signal: processing said signal using a matrix featuring a characteristic power delay profile and a characteristic signal waveform to provide a processed signal, and partitioning said signal into at least a first segment containing noise and a second segment containing at least a multipath signal corresponding to a plurality of paths between the object and a respective reference station; and calculating a direct estimate of the position of the object based, at least in part, on said processed signals and on said segments.