An improved active-beacon/passive-listener time difference of arrival navigation system that relies on the multiple beacons to transmit uncoded acoustic pulses of a same frequency that propagate in the system at a same time for high-speed device tracking. Beacons are scheduled to transmit independent of the location of listening devices in the system. Listening devices may receive multiple encoded radio frequency pulses (RF) prior to a single acoustic pulse, and then resolves which RF pulse corresponds to the acoustic pulse using triangulation techniques.