The disclosure generally relates to an enhanced positioning system and method using a combination or hybrid filter. In one embodiment, Time-Of-Flight (ToF) measurements are used to determine an approximate location for a mobile device in relationship to one or more Access Points. The ToF combined with known and unknown variables are then processed through a hybrid filter system to determine location of the mobile device. The hybrid filter system may include a Kalman Filter (KF) for processing linear models and generally Gaussian noise distribution. The KF assumes that the state probability of mobile device location is Gaussian. Such variables include, for example, WiFi ToF bias. The hybrid filter system may include a Bayesian Filter (BF) for processing variables having non-Gaussian noise distribution and non-linear models. Such variables include, for example, the coordinates of the mobile device. A probability determination from each of the KF and BF is then applied to estimate the mobile device location.