A method of estimating a range between a first wireless device and a second wireless device, the method comprising: obtaining, at the first wireless device, first information (to, s A) related to a first broadcast message transmitted by the first wireless device, wherein the first broadcast message includes information (to) related to at least one earlier broadcast message previously transmitted by the first wireless device, the information (to) related to the at least one earlier broadcast message previously transmitted by the first wireless device comprising a time of departure, ToD, of the earlier broadcast message and an identification information to identify the message to which the TOD corresponds, wherein the ToD of the earlier broadcast message is not comprised in the earlier broadcast message; obtaining, at the first wireless device, second information (s D, t A) related to a second broadcast message transmitted by the second wireless device, the second broadcast message comprising at least some of the first information related to the first broadcast message comprising a time-of-arrival (SA) of the first broadcast message at the second wireless device; and determining the range between the first wireless device and the second wireless device based, at least in part, on the first information and the second information obtained at the first wireless device, wherein the first information comprises a time-of-departure of the first broadcast message (t D) from the first wireless device as recorded by the first wireless device, and wherein the second information comprises a time-of-departure of the second broadcast message (s D) from the second wireless device, said time-of-departure recorded by the second wireless device and included in a subsequent message broadcasted by the second wireless device. obtaining, at the first wireless device, first information (to, s A) related to a first broadcast message transmitted by the first wireless device, wherein the first broadcast message includes information (to) related to at least one earlier broadcast message previously transmitted by the first wireless device, the information (to) related to the at least one earlier broadcast message previously transmitted by the first wireless device comprising a time of departure, ToD, of the earlier broadcast message and an identification information to identify the message to which the TOD corresponds, wherein the ToD of the earlier broadcast message is not comprised in the earlier broadcast message; obtaining, at the first wireless device, second information (s D, t A) related to a second broadcast message transmitted by the second wireless device, the second broadcast message comprising at least some of the first information related to the first broadcast message comprising a time-of-arrival (SA) of the first broadcast message at the second wireless device; and determining the range between the first wireless device and the second wireless device based, at least in part, on the first information and the second information obtained at the first wireless device, wherein the first information comprises a time-of-departure of the first broadcast message (t D) from the first wireless device as recorded by the first wireless device, and wherein the second information comprises a time-of-departure of the second broadcast message (s D) from the second wireless device, said time-of-departure recorded by the second wireless device and included in a subsequent message broadcasted by the second wireless device.