Systems and methods of passive and active scanning of WLAN-enabled access points to estimate position of a WLAN positioning device. A device estimates the position of itself. The device includes a WLAN radio module for receiving WLAN signals, extraction logic for extracting information from said received WLAN signals to identify the WLAN APs, and logic to cooperate with a WLAN-based positioning system. The WLAN radio module includes a phase for active scanning of WLAN APs in range of said device and a phase of passive scanning of WLAN APs in range of said device, and the passive scanning phase scans only a pre-determined and selected subset of WLAN channels. Under certain embodiments, the WLAN radio module includes a passive scanning phase that simultaneously scans multiple WLAN channels.