Systems and methods for radio node synchronization based on range calculations

A radio node for updating a local timing parameter based on a message from a remote node includes a processing circuit and receiver. The receiver is configured to receive the message and to provide the message to the processing circuit. The processing circuit is configured to determine an expected time of arrival for the received message using an estimation of range between the radio node and the remote node. The processing circuit is further configured to obtain an estimate of a timing error for the radio node by comparing the expected time of arrival with the actual time of arrival. The processing circuit is further configured to determine a timing error quality using position uncertainty information and time uncertainty information received from the remote node with the received message.