A method for position estimation in a positioning system includes receiving, by a locator devices, positioning signals from a mobile device, generating positioning information with associated synchronization identifiers based on the respective received positioning signals, and providing the positioning information with the associated synchronization identifiers to a positioning engine. The positioning engine compiles a set of related positioning information selected from the provided positioning information based on a similarity measure of the associated synchronization identifiers, and determines an estimated position of the mobile device based on the set of related positioning information.