A bulk propagation fine timing measurement (BFTM) allocation message is generated by a scheduling mobile computing device that identifies other mobile computing devices in the area. The BFTM allocation message generated by the scheduling mobile computing device indicates a scheduling order for the identified mobile computing devices and contention-free periods for the mobile computing devices to transmit the timing measurement messages. The responding mobile computing devices generate bulk propagation timing measurement (BPTM) messages that include propagation times between pairs of mobile computing devices—either two other devices or the responding device and another device. These BPTM messages are then transmitted during scheduled times frames indicated in the scheduling order.