Methods, apparatuses, and computer readable media for parameter update for range-based positioning. An apparatus of a station (STA) for parameter update for range-based positioning, the apparatus including processing circuitry configured to perform a distance estimating method with access points (APs) to determine distance estimates between the APs and the STA, the distant estimating method including parameters, and configured to determine a location of the STA based on the distance estimates between the APs and the STAs and locations of the APs. The processing circuitry further configured to: update the parameters by subtracting from a parameter of the parameters a learning rate times a derivative of a cost function with respect to the parameter, where the cost function is based on the determined location of the STA, the locations of the APs, and the distance estimates between the APs and the STA.