A mobile printing system including a handheld printing device including at least two navigation sensors, a transmitter, a processor, and a print nozzle, and a distance sensing module including at least two distance sensors, the distance sensing module to be mountable to a print media at a distance from the handheld printing device, the distance sensing module to sense positional data of the handheld printing device, wherein the processor determines current, past, and anticipated positions of the handheld printing device based on positional data information received from the distance sensing module and navigation information received from the at least two navigation sensors and controls the handheld printing device to cause print fluid to be dispensed according to a print request and the anticipated positions of the handheld printing device.