1. A method in a mobile terminal for estimating a position of the mobile terminal, the method comprising: receiving an expected measurement map indicative of an expected measurement of one or more parameters by the mobile terminal, the expected measurement map being associated with a plurality of communication devices and a plurality of hypothesis locations, wherein receiving the expected measurement map comprises receiving a set of expected measurement values associated with the plurality of communication devices and the plurality of hypothesis locations; receiving parameters of a matrix corresponding to the expected measurement map; capturing, by the mobile terminal, actual measurements of the one or more parameters for the plurality of communication devices, wherein each of the actual measurements and the expected measurement map comprise values indicative of a delay in a communication path between the mobile terminal and one or more of the plurality of communication devices; and utilizing the received one or more parameters and actual measurements to estimate the position of the mobile terminal, wherein estimating the position of the mobile terminal includes computing a respective interim vector from the actual measurements and the expected measurement map for each hypothesis location; computing joint probability distribution values as an exponential of a matrix product using the interim vector and the matrix to produce a joint probability distribution value; and filtering the joint probability distribution value to estimate the position of the mobile terminal.