Acoustic positioning systems, while highly effective in controlled indoor settings, can experience significant accuracy degradation under varying environmental conditions. Factors such as temperature fluctuations and wind can alter the propagation speed and path of sound, introducing errors in distance measurement and localization. For instance, a mobile robot operating in a greenhouse or an open field may encounter temperature gradients or wind gusts that were not present in the laboratory, leading to systematic timing errors if not properly accounted for. This chapter examines how environmental conditions affect acoustic positioning and presents methods to mitigate these effects.