Methods, systems, and apparatus are disclosed for determining accurate ranging measurements between communication devices. Various embodiments are described for recording timestamps associated with when transmissions are sent and received between the communication devices. The communication devices are configured to determine a difference in their clock frequencies and to communicate this difference with one another. Furthermore, each of the communication devices is configured to compensate for these differences before or after the timestamps are exchanged and to send a compensation indicator of whether the compensation has been performed. If the compensation has not been performed, either of the communication devices can compensate for the clock frequency differences after receiving the timestamps based on the compensation indicator. By using compensated clock frequencies based on a single clock reference, highly accurate ranging measurements are obtained using round trip propagation time calculations.