Systems and methods for locating a position of a target object are provided. The target object can be equipped with a plurality of spatially distributed antennas, and can be located within a network of a plurality of anchors at fixed locations. A plurality of anchor pairs can be assigned. Each anchor pair can include at least two anchors. The anchor pairs can transmit and receive range request (REQ) and range response (RSP) packets. The REQ and RSP packets can be received by the antennas on the target object. Distance differences between the target object to the first anchor and from the target object to the second anchor of each anchor pair can be estimated, based on times at which the REQ packet and the RSP packet are received at the target object. The position of the target object can be estimated based on the distance differences.