In one embodiment, a technique is provided for wireless position determination wherein identification information and positional information about wireless beacons are supplied from a central database maintained by a central facility to a wireless computing device, the identification information and positional information usable by a wireless positioning system of the wireless computing device to estimate a position of the wireless computing device. The central facility receives a contribution from the wireless computing device of identification information and positional information for at least one wireless beacon, the positional information of the at least one wireless beacon estimated based on the position of the wireless computing device. It updates the central database based on the identification information and positional information for the at least one wireless beacon and provides, from the central database, updated identification information and positional information about wireless beacons to at least one other wireless computing device.