A method for performing secure wireless ranging, comprising: receiving, at a first wireless communication device, a first signal from a second wireless communication device, wherein the first signal includes a first random identifier; generating a second random identifier at the first wireless communication device; deriving, at the first wireless communication device, a transient key using the first random identifier, the second random identifier and a pre-shared key; generating an encrypted second signal at the first wireless communication device; transmitting the encrypted second signal from the first wireless communication device to the second wireless communication device; receiving, at the first wireless communication device, an encrypted third signal from the second wireless device; decrypting, by the first wireless communication device, the encrypted third signal using a first portion of the transient key to verify a payload of the encrypted third signal; encrypting, at the first wireless communication device, first measurement data using a second portion of the transient key to produce first encrypted measurement data; transmitting the first encrypted measurement data from the first wireless device to the second wireless communication device only when the decrypted third signal matches the first portion of the transient key; receiving, at the first wireless communication device, second encrypted measurement data from the second wireless communication device; and determining, at the first wireless communication device, a separation distance between the first and second wireless communication devices using the first and second encrypted measurement data. receiving, at a first wireless communication device, a first signal from a second wireless communication device, wherein the first signal includes a first random identifier; generating a second random identifier at the first wireless communication device; deriving, at the first wireless communication device, a transient key using the first random identifier, the second random identifier and a pre-shared key; generating an encrypted second signal at the first wireless communication device; transmitting the encrypted second signal from the first wireless communication device to the second wireless communication device; receiving, at the first wireless communication device, an encrypted third signal from the second wireless device; decrypting, by the first wireless communication device, the encrypted third signal using a first portion of the transient key to verify a payload of the encrypted third signal; encrypting, at the first wireless communication device, first measurement data using a second portion of the transient key to produce first encrypted measurement data; transmitting the first encrypted measurement data from the first wireless device to the second wireless communication device only when the decrypted third signal matches the first portion of the transient key; receiving, at the first wireless communication device, second encrypted measurement data from the second wireless communication device; and determining, at the first wireless communication device, a separation distance between the first and second wireless communication devices using the first and second encrypted measurement data.