A procedure (400) comprising the following: Detect (410) by a network device (100) during a first
beacon interval, a plurality of access points (APs) on a first channel capable of
ranging and receiving
signal measurement from each of the plurality of APs on the first channel; Determine, by the network device, a set of APs from the multitude of APs on the first channel that have not yet performed
ranging; Select (415), by the network device, one AP with the strongest received
signal measurement among the set of APs on the first channel; Determine (420) through the network device whether the selected AP is available for
ranging; Based on a determination that the selected AP is available for ranging, the network device initiates (425) ranging measurements with the selected AP on the first channel during a second
beacon interval to produce a ranging result; based on the ranging result, Determine (430), by the network device, of locations of the plurality of APs on the first channel, wherein determining the locations of the plurality of APs on the first channel includes estimating the locations of the plurality of APs on the first channel on an AP map.