A method of wireless communication by a first user equipment, UE, comprising: receiving a message from a base station that indicates a first subset of a set of resources, a second subset of the set of resources, and a third subset of the set of resources; receiving a first set of information in the first subset of the set of resources from a first plurality of UEs (904, 906, 908, 910), the first set of information includes identifiers associated with each UE (904, 906, 908, 910) of the first plurality of UEs (904, 906, 908, 910) and includes, for said each UE (904, 906, 908, 910) in the first plurality of UEs (904, 906, 908, 910), a position of said each UE (904, 906, 908, 910), a sequence identifier, ID, of a sequence for positioning and a resource ID; receiving a set of sequences in symbols of the second subset of the set of resources from the plurality of UEs (904, 906, 908, 910), wherein each sequence in the set of sequences is associated with the respective sequence ID and is received on at least one symbol of the symbols, the at least one symbol being identified by the respective resource ID; receiving a second set of information in the third subset of the set of resources from a second plurality of UEs, the second set of information comprising timing information of the first plurality of UEs (904, 906, 908, 910) determined by the second plurality of UEs, a position of each UE in the second plurality of UEs, and identifiers of the first plurality of UEs (904, 906, 908, 910); and determining a position of the first UE based on the received first set of information, the received set of sequences, and the received second set of information, by taking into account the actual distances between the first UE and the first plurality of UEs (904, 906, 908, 910) plus any distance resulting from the timing offset between the first UE and the first plurality of UEs (904, 906, 908, 910), the distances between the first plurality of UEs (904, 906, 908, 910) and the second plurality of UEs, cancelling out the timing offsets and solving a remaining set of equations for the position of the first UE. receiving a message from a base station that indicates a first subset of a set of resources, a second subset of the set of resources, and a third subset of the set of resources; receiving a first set of information in the first subset of the set of resources from a first plurality of UEs (904, 906, 908, 910), the first set of information includes identifiers associated with each UE (904, 906, 908, 910) of the first plurality of UEs (904, 906, 908, 910) and includes, for said each UE (904, 906, 908, 910) in the first plurality of UEs (904, 906, 908, 910), a position of said each UE (904, 906, 908, 910), a sequence identifier, ID, of a sequence for positioning and a resource ID; receiving a set of sequences in symbols of the second subset of the set of resources from the plurality of UEs (904, 906, 908, 910), wherein each sequence in the set of sequences is associated with the respective sequence ID and is received on at least one symbol of the symbols, the at least one symbol being identified by the respective resource ID; receiving a second set of information in the third subset of the set of resources from a second plurality of UEs, the second set of information comprising timing information of the first plurality of UEs (904, 906, 908, 910) determined by the second plurality of UEs, a position of each UE in the second plurality of UEs, and identifiers of the first plurality of UEs (904, 906, 908, 910); and determining a position of the first UE based on the received first set of information, the received set of sequences, and the received second set of information, by taking into account the actual distances between the first UE and the first plurality of UEs (904, 906, 908, 910) plus any distance resulting from the timing offset between the first UE and the first plurality of UEs (904, 906, 908, 910), the distances between the first plurality of UEs (904, 906, 908, 910) and the second plurality of UEs, cancelling out the timing offsets and solving a remaining set of equations for the position of the first UE.