A ranging procedure is performed using interference cancellation using preamble messages from a plurality of objects, each of which includes a pre-defined orthogonal design coded modulation patterns. A channel for an object may be estimated using the pre-defined orthogonal design coded modulation patterns in the preamble messages received from objects to remove interference of the preamble message received from other objects. A range to an object may be determined based on a determined delay in the preamble message from that object. The range may be used to assist in determining the position of the object. The pre-defined preamble message may be transmitted by receiving a schedule for an access point in a network for a ranging procedure and periodically transmitting a pre-defined preamble message for the ranging procedure, the pre-defined preamble message includes an orthogonal design coded modulation pattern.