Systems and methods for locating a position of a mobile device are provided. The system can include a plurality of anchors. Each anchor can be positioned at a fixed location. The plurality of anchors can be configured to communicate with one another and with the mobile device by transmitting data packets formatted according to a media access control (MAC) frame structure. The MAC frame structure can include a beacon period for synchronizing the plurality of anchors in the system via transmission of a first set of communication packets. The MAC frame structure can include a contention-free period. The MAC frame structure can include a contention period. The system can include a position estimator configured to estimate the position of the mobile device.