A method is provided for estimating a frequency offset value. This method includes: receiving a signal from the transmitting device at the receiving device, the received signal having a transmitter frequency (510); generating a local signal at the receiving device, the local signal having a starting frequency (520); comparing a received signal phase and a local signal phase to determine an adjusted error signal representing a phase difference between the received signal and the local signal (530); adjusting a current frequency of the local signal from the starting frequency to the transmitting frequency over a time period (540); integrating the adjusted error signal over the time period to generate an integrated error signal (550); and filtering the integrated error signal to generate a frequency difference estimate indicative of the frequency difference between the transmitter frequency and the starting frequency (560).