1. A method of calibrating a motion capture system having a plurality of transmitters communicably linked to at least one receiver for determining position of the plurality of transmitters, the method comprising: providing an estimate of the topology of the receivers; collecting a first dataset D 1 of time of arrival measurements using a computer device connected to the one or more receivers with the transmitters placed in significant proximity to the one or more receivers to obtain a first estimate of calibration parameters; collecting a second dataset D 2 of time of arrival measurements via the computer device associated with the one or more receivers based on one or more of the transmitters moving through a space of interest; using the dataset D 2 and the first estimate of calibration parameters by the computer device associated with the one or more receivers to calculate a trajectory of the transmitter for each transmission instance to derive an initial estimate of the trajectory of the transmitter; and calculating a final set of calibration parameters based on the first estimate of calibration parameters and the estimated initial trajectory via the computer device associated with the one or more receivers.