Computer readable media, methods, and apparatuses for location estimation using multi-user multiple-input multiple-output in a wireless local-area network are disclosed. An apparatus is disclosed comprising processing circuitry configure to: encode a fine timing measurement (FTM) initiate (FTI) frame, the FTI frame comprising M0 message uplink resource allocations for a plurality of responders to transmit M0 messages to the HE STA. The processing circuitry further configured to configure the HE STA to transmit the FTI frame to the plurality of responders, and decode M0 messages from the plurality of responders in accordance with the M0 message uplink resource allocations, where the M0 messages are to be received at the HE STA at times T2 in accordance with multi-user multiple-input multiple-output (MU-MIMO). The processing circuitry further configured to acknowledge the M0 messages to be transmitted at a time T3, and decode M1 messages comprising a corresponding time T1 and time T4.