In another example, a third wireless node having a wireless device with one or more processing units and RF circuitry for transmitting and receiving communications in the wireless network architecture includes a first RF information signal from the first wireless node and a second RF information signal from the second wireless node. The one or more processing units of the third wireless node are configured to execute instructions to determine a time of flight estimate for localization based on the first and second RF information signals.

In one example, a synchronous system for localization of nodes in a wireless network architecture comprises a first wireless node having a wireless device with one or more processing units and RF circuitry for transmitting and receiving communications in the wireless network architecture including a RF signal having a packet. A second wireless node includes a wireless device with one or more processing units and RF circuitry to enable bi-directional communications with the first wireless node in the wireless network architecture. The one or more processing units of the second wireless node are configured to execute instructions to determine a time of flight estimate for localization based on a time estimate of trip time of the packet and a time estimate of the time of flight that is based on channel sense information. The first and second wireless nodes have the same reference clock signal in this example.

In another example, the time estimate of trip time of the packet is based on a first time when the first wireless node sends the packet and a second time when the second wireless node receives the packet.