A method for performing a ranging procedure comprising one or more ranging measurements, comprising: a wireless device (106, 107), negotiating, with an initiating device (106, 107, 112), one or more timing parameters associated with the ranging procedure, wherein the one or more timing parameters specify a time duration in which the initiating device can initiate a ranging measurement; performing, with the initiating device, a first ranging measurement of the ranging procedure, including: receiving, from the initiating device, an announcement indicating initiation of the first ranging measurement and, at a first time, a first measurement packet; and transmitting, to the initiating device, a second measurement packet at a second time and, at a third time, a first report to the initiating device, wherein the first report is associated with the ranging procedure and includes timestamps associated with at least one of the first time and second time or with a prior ranging measurement; receiving, after completion of the first ranging measurement, a message, from the initiating device, announcing initiation of a second ranging measurement associated with the ranging procedure, wherein the message is received during the time duration indicated by the one or more timing parameters; and receiving, at a fourth time, a second report from the initiating device, wherein the second report is associated with the ranging procedure and includes timestamps associated with at least one of the transmission of the first measurement packet and reception of the second measurement packet by the initiating device or transmission of a prior first measurement packet and reception of a prior second measurement packet by the initiating device, and wherein a distance between the wireless device and the initiating device can be calculated based, at least in part, on the second report, the first time, and the second time. negotiating, with an initiating device (106, 107, 112), one or more timing parameters associated with the ranging procedure, wherein the one or more timing parameters specify a time duration in which the initiating device can initiate a ranging measurement; performing, with the initiating device, a first ranging measurement of the ranging procedure, including: receiving, from the initiating device, an announcement indicating initiation of the first ranging measurement and, at a first time, a first measurement packet; and transmitting, to the initiating device, a second measurement packet at a second time and, at a third time, a first report to the initiating device, wherein the first report is associated with the ranging procedure and includes timestamps associated with at least one of the first time and second time or with a prior ranging measurement; receiving, from the initiating device, an announcement indicating initiation of the first ranging measurement and, at a first time, a first measurement packet; and transmitting, to the initiating device, a second measurement packet at a second time and, at a third time, a first report to the initiating device, wherein the first report is associated with the ranging procedure and includes timestamps associated with at least one of the first time and second time or with a prior ranging measurement; receiving, after completion of the first ranging measurement, a message, from the initiating device, announcing initiation of a second ranging measurement associated with the ranging procedure, wherein the message is received during the time duration indicated by the one or more timing parameters; and receiving, at a fourth time, a second report from the initiating device, wherein the second report is associated with the ranging procedure and includes timestamps associated with at least one of the transmission of the first measurement packet and reception of the second measurement packet by the initiating device or transmission of a prior first measurement packet and reception of a prior second measurement packet by the initiating device, and wherein a distance between the wireless device and the initiating device can be calculated based, at least in part, on the second report, the first time, and the second time.