A method estimates a delay in a time of arrival (TOA) of a transmitted signal by receiving the transmitted signal at multiple antennas via corresponding channels. Each received signal is correlated with the transmitted signal to obtain estimated channel coefficients and an estimated TOA. A variance of noise is also obtained for each received signal. A weight is determined for each received signal by dividing the channel coefficients by the variance of the noise. The weights are summed, and each weight is multiplied by the estimated TOA to produce a weighted estimated TOA, which are also summed. The summed weighted estimated TOA are divided by the summed weights to determine a final TOA estimate with respect to the transmitted signal.