In one aspect, a process for position estimation entails, at a first device, obtaining from a second device information including (a) at least one direct distance estimate corresponding to a distance between the second device and a third device, (b) at least one direct angle estimate corresponding to a spanning angle formed involving the second device and a third device, or both (a) and (b). The process may further entail, at the first device, determining a position estimate for the first device based on (a) the at least one direct distance estimate, (b) the at least one direct angle estimate, or both (a) and (b). The first device and the third device may be out of range with respect to one another to make a direct distance measurement between the first device and the third device.