A positioning system comprises a plurality of controllers, each controller comprising a wideband receiver and a narrow band transmitter, the each controller configured to receive a wideband positioning frame using the wideband receiver from one or more devices and to transmit acknowledgement frames using the narrow band transmitter that include timing and control data for use by the devices to establish timing for transmission of the positioning frame; and at least one device comprising a wideband transmitter and a narrow band receiver, the device configured to transmit a positioning frame to the plurality of controllers using the wideband transmitter and to receive an acknowledgement frame from one or more controllers using the narrow band receiver, extract timing and control information from the frame, and adjust the timing and synchronization of the wideband transmitter using the timing and control information.