A method of determining locations of reference nodes in a wireless network, comprising: transmitting a request to a first reference node to perform a first round-trip-time, RTT, procedure with a second reference node, wherein the first reference node and the second reference node are not time-synchronized with respect to each other; determining a first distance between the first reference node and the second reference node based on the first RTT procedure performed by the first reference node and the second reference node, wherein at least one of the first reference node and the second reference node transmits a beamformed reference signal to the other of the first reference node and the second reference node as part of the first RTT procedure; determining a second distance between the first reference node and a third reference node based on a second RTT procedure performed by the first reference node and the third reference node; determining a third distance between the second reference node and the third reference node based on a third RTT procedure performed by the second reference node and the third reference node; determining relative locations of the first and second reference nodes with respect to each other; and determining a relative location of the third reference node with respect to the relative locations of the first and second reference nodes; determining absolute locations of the first, second, and third reference nodes from the relative locations of the first, second, and third reference nodes based on 1) the first reference node, the second reference node, or both having a known absolute location and at least one known angle-of-arrival, AoA, or angle-of-departure, AoD, of at least one reference signal sent or received by the first, second, or third reference nodes, or 2) the first and second reference nodes having known absolute locations. transmitting a request to a first reference node to perform a first round-trip-time, RTT, procedure with a second reference node, wherein the first reference node and the second reference node are not time-synchronized with respect to each other; determining a first distance between the first reference node and the second reference node based on the first RTT procedure performed by the first reference node and the second reference node, wherein at least one of the first reference node and the second reference node transmits a beamformed reference signal to the other of the first reference node and the second reference node as part of the first RTT procedure; determining a second distance between the first reference node and a third reference node based on a second RTT procedure performed by the first reference node and the third reference node; determining a third distance between the second reference node and the third reference node based on a third RTT procedure performed by the second reference node and the third reference node; determining relative locations of the first and second reference nodes with respect to each other; and determining a relative location of the third reference node with respect to the relative locations of the first and second reference nodes; determining absolute locations of the first, second, and third reference nodes from the relative locations of the first, second, and third reference nodes based on 1) the first reference node, the second reference node, or both having a known absolute location and at least one known angle-of-arrival, AoA, or angle-of-departure, AoD, of at least one reference signal sent or received by the first, second, or third reference nodes, or 2) the first and second reference nodes having known absolute locations. <EOS>