In one embodiment, a method includes receiving a first, a second, and a third sensing events within a same beacon message interval from a mobile device, each sensing event including a beacon device identifier associated with a beacon device and a timestamp associated with a respective beacon message, a location of the mobile device, and a power level associated with the respective beacon message, determining a first, a second, and a third distances between the mobile device and the beacon device based on the first, the second, and the third sensing events, and determining a position of the beacon device based on the first, the second, and the third distances.