RANGING WITH SIMULTANEOUS FRAMES

A method of transmitting signals from a first node having multiple transceivers to a second node is disclosed. The method comprises receiving a message from the second node at the first node, wherein the message is received by each of a plurality of transceivers of the first node; and transmitting by each of the plurality of transceivers a respective data frame to the second node in response to the message; wherein each transceiver initiates the transmission of its respective data frame a predetermined time period after receipt of the message by the transceiver; and wherein the transmissions of the data frames from the plurality of transceivers overlap. The data frames may form part of a two-way ranging exchange.