A method for secure range determination, the method comprising: transmitting, by a first wireless device, a first signed message at a first time instance, the first signed message comprising a first payload and configured to be received by a second wireless device at a second time instance; receiving at a fourth time instance, by the first wireless device, a verifiable acknowledgement message, transmitted from the second wireless device at a third time instance in response to the first signed message, the verifiable acknowledgement message allowing the first wireless device to verify that the verifiable acknowledgement message originated from the second wireless device; receiving, by the first wireless device, subsequent to receiving the verifiable acknowledgement message at the fourth time instance, a further signed message with a further payload from the second wireless device within a threshold time period following the receiving the verifiable acknowledgement message at the fourth time instance, by the first wireless device, wherein the further signed message is configured to indicate that the verifiable acknowledgement message was transmitted by the second wireless device; verifying, at the first wireless device, that the verifiable acknowledgement message originated from and was transmitted by the second wireless device; and responsive to the verification that the verifiable acknowledgement message originated from and was transmitted by the second wireless device, transmitting, by the first wireless device, a second signed message comprising a second payload with at least timing information for the first time instance and the fourth time instance. transmitting, by a first wireless device, a first signed message at a first time instance, the first signed message comprising a first payload and configured to be received by a second wireless device at a second time instance; receiving at a fourth time instance, by the first wireless device, a verifiable acknowledgement message, transmitted from the second wireless device at a third time instance in response to the first signed message, the verifiable acknowledgement message allowing the first wireless device to verify that the verifiable acknowledgement message originated from the second wireless device; receiving, by the first wireless device, subsequent to receiving the verifiable acknowledgement message at the fourth time instance, a further signed message with a further payload from the second wireless device within a threshold time period following the receiving the verifiable acknowledgement message at the fourth time instance, by the first wireless device, wherein the further signed message is configured to indicate that the verifiable acknowledgement message was transmitted by the second wireless device; verifying, at the first wireless device, that the verifiable acknowledgement message originated from and was transmitted by the second wireless device; and responsive to the verification that the verifiable acknowledgement message originated from and was transmitted by the second wireless device, transmitting, by the first wireless device, a second signed message comprising a second payload with at least timing information for the first time instance and the fourth time instance.