A target user equipment (UE), which may be a vehicle or UE carried by a pedestrian, may receive sequentially broadcast ranging signals from a set of ranging source entities (SEs), which may be road side units or other vehicles. The target UE further receives location information separately broadcast by each SEs. The location information, for example, may include the position for the SE, the time of transmission of the ranging signals transmitted by the SE and/or a sequence identifier for the SE. The target UE may determine ranges to the SEs using time of arrival measurements for the ranging signals and the time of transmissions of the ranging signals or the sequence identifier received in the location information. The position of the target UE may be determined using the determined ranges to the SEs and the positions of the SEs received in the location information.