determining a position of a plurality of mobile network devices relative to a plurality of reference network devices, wherein the plurality of mobile network devices and the plurality of reference network devices communicate with one another over a wireless channel and access the wireless channel according to an access policy comprising a sequence of time frames,

wherein each time frame of the sequence comprises a plurality of portions reserved for communicating messages relating to different time-of-flight (ToF) computation methods, each of the different ToF computation methods allowing for determining a position of at least one of the plurality of mobile network devices;

wherein at least two of the different ToF position computation methods are selected from the group consisting of: one-way Time of arrival, Time difference of arrival, Two-way ranging, and Symmetrical double-sided two-way ranging;

wherein the time frames of the sequence or corresponding portions of the time frames of the sequence have predetermined time length;

wherein in a first portion of the plurality of portions the wireless channel is accessed according to a time division multiple access scheme;

wherein in a second portion of the plurality of portions the wireless channel is accessed according to a collision avoidance scheme; and

wherein at least a portion of the plurality of reference network devices are arranged indoors;

the method further comprising:

communicating first messages between the plurality of reference network devices and a first mobile network device of the plurality of mobile network devices within a first portion of the plurality of portions, wherein the first messages relate to a first one of the different ToF position computation methods;

collecting first ToF information from the first messages and determining a position of the first mobile network device based on the first ToF information by applying the first ToF position computation method:

communicating second messages between the plurality of reference network devices and a second mobile network device of the plurality of mobile network devices within a second portion of the plurality of portions, wherein the second messages relate to a second one of the different ToF position computation methods; and

collecting second ToF information from the second messages and determining a position of the second mobile network device based on the second ToF information by applying the second ToF position computation method.