This paper presents a hybrid position estimation technique that is based on the integration of Fingerprinting (FP), Time-of-flight (ToF), and Trilateration approach. When empirical channel models are used with Ultra Wideband (UWB) systems, there are plenty of challenges that must be taken into consideration due to their dependence on frequency. Thus, when the position of a Blind Node (BLN) is estimated using the aforementioned techniques and the values deriving from these models, positioning error occurs. In order to minimize the positioning error, the proposed hybrid technique, called Lateration Time-FingerPrint (LTPF), is developed. The efficiency of the proposed positioning scheme is demonstrated through simulation results in terms of error probability and comparisons with other state-of-the-art positioning schemes.