A system for locating a position of a mobile device , the system comprising: a plurality of anchors , each anchor positioned at a known location, the plurality of anchors configured to communicate with one another and with the mobile device by transmitting data packets formatted according to a media access control (MAC) frame structure comprising: a beacon period for synchronizing the plurality of anchors in the system via transmission of a first set of communication packets, wherein the beacon period of the MAC frame structure is partitioned into a plurality of time slots for transmitting beacon signals; a contention-free period ; a contention period ; and a position estimator configured to estimate the position of the mobile device based on time differences observed between received data packets, wherein a first anchor of the plurality of anchors is configured to: transmit a first beacon signal in a first time slot of the beacon period of the MAC frame structure; measure a first time shift between an end of transmission of the first beacon signal and a start of the first time slot; receive a second beacon signal from a second anchor transmitted during a second time slot of the beacon period of the MAC frame structure; measure a second time shift between receiving a completion of the second beacon signal and the start of the second time slot; determine a time difference between the received time shifts; and adjust a clock signal of the first anchor based on the time difference. a plurality of anchors , each anchor positioned at a known location, the plurality of anchors configured to communicate with one another and with the mobile device by transmitting data packets formatted according to a media access control (MAC) frame structure comprising: a beacon period for synchronizing the plurality of anchors in the system via transmission of a first set of communication packets, wherein the beacon period of the MAC frame structure is partitioned into a plurality of time slots for transmitting beacon signals; a contention-free period ; a contention period ; and a beacon period for synchronizing the plurality of anchors in the system via transmission of a first set of communication packets, wherein the beacon period of the MAC frame structure is partitioned into a plurality of time slots for transmitting beacon signals; a contention-free period ; a contention period ; and a position estimator configured to estimate the position of the mobile device based on time differences observed between received data packets, wherein a first anchor of the plurality of anchors is configured to: transmit a first beacon signal in a first time slot of the beacon period of the MAC frame structure; measure a first time shift between an end of transmission of the first beacon signal and a start of the first time slot; receive a second beacon signal from a second anchor transmitted during a second time slot of the beacon period of the MAC frame structure; measure a second time shift between receiving a completion of the second beacon signal and the start of the second time slot; determine a time difference between the received time shifts; and adjust a clock signal of the first anchor based on the time difference. transmit a first beacon signal in a first time slot of the beacon period of the MAC frame structure; measure a first time shift between an end of transmission of the first beacon signal and a start of the first time slot; receive a second beacon signal from a second anchor transmitted during a second time slot of the beacon period of the MAC frame structure; measure a second time shift between receiving a completion of the second beacon signal and the start of the second time slot; determine a time difference between the received time shifts; and adjust a clock signal of the first anchor based on the time difference. <EOS>