This paper proposes an original Three-Dimensional (3-D) positioning technique based on an enhanced Chan method by investigating the performance of position estimation method by Time Difference Of Arrival (TDOA). The studied configurations assume that each mobile locates itself and so it receives and analyses signal from multiple transmitters, namely Base Station (BS). The approach is non-iterative and gives an explicit solution which does not use intensive computing. Position estimation is made in two steps: the first step is relied on related position parameters extraction and the second step concerns position computing. Related position parameters are TDOA. They are used as input for positioning algorithm. This proposed method has been tested with simulation and experimental measurements. The test results show, on one hand, that position estimation is function of system configuration, and on the other hand, it is able to make 3-D position estimation with high accuracy in centimeter order.