This disclosure includes systems and methods for determining the location of each of a plurality of STAs of a WLAN where an AP measures the round-trip time (RTT) and the angle of arrival (AOA) to each STA from implicit packet exchange, such as data frame and ACK frame. The AP may then report the RTT and AOA measurements to each STA using a dedicated beacon information element (IE) which multicasts RTT and AOA measurements to the STAs. By employing an additional parameter, namely, angle of arrival AOA, a single AP may compute the two-dimensional location of each associated STA. Further, another beacon IE may multicast mapping of the AIDs to MAC addresses so that the associated STAs can understand such mapping for STAs in a network so that one STA may know the location of other STAs. Encryption may be employed to achieve privacy.