A method including receiving at a synchronizing node a first reference framefrom a first reference node at a firsttime and storing a first time value representing the first time, andcalculating a timing estimator by subtracting a minimum timevalue, representing the distance from the synchronizing node to the firstreference node, from the first time value. The methodincludes receiving at the synchronizing node a second reference frame at asecond time and transmitting from the synchronizingnode to the first reference node a short timing contention time frame. Themethod includes receiving at the synchronizing nodefrom the first reference node an arrival time value representing the time atwhich the first reference node received the short timingcontention frame and calculating a time drift from the first arrival timevalue and the second time value and adjusting the timingestimator based on the time drift.
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