A first access point including a receiver, a transmitter, a feedback module, and a location determining module. The receiver receives a first frame from a client station. The transmitter transmits a second frame to the client station. The first and second frames are also received by second and third devices, which are located at predetermined locations. The feedback module receives a first feedback from the client station including times of departure and arrival of the first and second frames at the client station, and a second feedback from the second and third devices including times of arrival of the first and second frames at the second device and the third device. The location determining module determines a location of the client station based on the times of arrival and departure of the first and second frames at the first access point, the first and second feedbacks, and the predetermined locations.