Certain aspects of the present disclosure provide techniques for user equipment (UE) positioning using one or more intelligent reflecting surfaces (IRSs). A method that may be performed by a UE includes for each IRS of the one or more IRSs: identifying a first IRS reflection center, measuring a first impulse response from the IRS to obtain a first measured impulse response representation, determining a first impulse response for a first ray reflected from the first IRS reflection center of the IRS, estimating a first position of the UE based on, at least, the first IRS reflection centers for each of the one or more IRSs and the first impulse responses for each of the one or more IRSs, and estimating a second position of the UE in an iterative manner until one or more conditions are satisfied.