Various aspects of the present disclosure generally relate to wireless communication. In some aspects, a network node may receive a first set of ranging measurements based at least in part on a first one or more positioning reference signals communicated over a sidelink between a pedestrian user equipment (P-UE) and a vehicle UE (V-UE). The network node may receive a second set of ranging measurements based at least in part on a second one or more positioning reference signals communicated over an access link between the P-UE and one or more base stations. The network node may transmit, to the P-UE, an estimated position of the P-UE. For example, in some aspects, the estimated position of the P-UE may be based at least in part on the first set of ranging measurements and the second set of ranging measurements. Numerous other aspects are provided.