Systems and methods for precise radio frequency localization in the presence of multiple communication paths

An asynchronous system for localization of nodes in a wireless network architecture, comprising:

• a first wireless node having a wireless device with one or more processing units and RF circuitry for transmitting and receiving communications in the wireless network architecture including a first RF signal having a first packet;
• and
• a second wireless node having a wireless device with a transmitter and a receiver to enable bi-directional communications with the first wireless node in the wireless network architecture including a second RF signal with a second packet, wherein the one or more processing units of the first wireless node are configured to execute instructions to determine a time of flight estimate for localization based on a time estimate of round trip time of the first and second packets and to determine a time estimate of the time of flight that is based on channel sense information of the first and second wireless nodes with the channel sense information being used to cancel a phase difference between a first reference clock signal of the first wireless node and a second reference clock signal of the second wireless node using a combined channel response to combine measured channel responses of the first and second packets or to estimate a phase difference between the first and second reference clock signals using a divided channel response.