An access terminal of a wireless communication system includes a transceiver configured to receive wirelessly multiple reference keypoints and a geographical location of each respective reference keypoint, each geographical location being a location near an estimated position of the access terminal; at least one camera communicatively coupled to the transceiver and configured to capture an image; and a processor communicatively coupled to the at least one camera and configured to calculate a refined position of the access terminal, that is more accurate than the estimated position, using first and second horizontal angles between the geographical locations of respective first and second pairs of reference keypoints determined as each corresponding to a respective image keypoint identified within the image captured by the at least one camera.