Collaborative time of arrival (CToA) is the next generation, indoor geolocation method, which is
designed for enabling scalability of the existing IEEE802.11/Wi-Fi-based, geolocation systems. The
technique leverages on the IEEE802.11 fine timing measurements (FTM) capabilities, enabled in stateof-
the-art Wi-Fi chipsets, and supports two concurrent operation modes; the CToA “client-mode”
enables “GPS-like” operation indoors, and allows an unlimited number of clients to privately estimate
their position and navigate indoors, without exposing their presence to the network
