According to an embodiment of the present disclosure, a receiver of modulated signals comprises a signal sampling unit configured to sample a signal, a zero-crossing demodulator, and a timing offset tracking unit. The zero-crossing demodulator includes: a zero-crossing counter configured to determine a number of zero crossings for each pulse of the signal, and a symbol selector configured to decode a sequence of pulses as a symbol based on the number of zero crossings in the sequence of pulses. The timing offset tracking unit is configured to: calculate a metric based on an accumulation of the number of zero crossings and corresponding pulse values of the decoded symbol, compare the metric to a predetermined threshold value, and compensate a timing offset of the signal by causing the signal sampling unit to sample the signal at an earlier interval or a later interval in response to the comparison.