Disclosed are techniques for transmitting and processing reference signals for positioning estimation over a multipath multiple-input multiple-output (MIMO) channel. In aspects, a first node configures first and second reference signal resource sets for transmission of first and second sets of reference signals, wherein the first and second reference signal resource sets occur on first and second subbands of, and/or during first and second time intervals on, the MIMO channel, wherein each reference signal resource in the first and second reference signal resource sets utilize at least first and second MIMO precoders, and transmits, to a second node over the MIMO channel, the first and second sets of reference signals, wherein the first node transmits the first and second sets of reference signals to assist the second node to perform a positioning measurement based on joint processing of the first and second sets of reference signals.