Position tracking of a receiving device within a gas or fluidic environment (for example a human body), is performed by measuring acoustic wave propagation parameters to provide real time, high precision telemetry. Multiple synchronized acoustic sources at different known locations transmit signals that are received by a receiver on the device to be located. The coordinates of the receiver can be determined by measuring a difference in the amplitude (coarse positioning) or phase (precise positioning) of the acoustic waves coming from different sources using triangulation calculations.