Systems and methods for determining round trip time (RTT) includes a second node, which receives a first signal from a first node at a first time, determines a timing advance based on a first estimated channel response for the first signal, and transmits at a second time, a second signal to the first node, wherein the second time occurs after the first time by an amount of a pre-specified delay for RTT estimation minus the timing advance. The first node transmits the first signal to the second node at an initial time, receives the second signal from the second node, and determines a timing statistic from a second estimated channel response for the second signal, the timing statistic estimated at a third time. The first node determines the RTT as the third time minus the initial time minus the pre-specified delay for RTT estimation.