Sub-frame synchronized residual radar

A method of using a wireless communication system to determine locations is provided. The method including exchanging communication frames between at least two synchronized nodes in the communication system, wherein each communication frame includes at least one of data signals and radar signals. Determining distances of at least one of nodes and reflective sources based in least in part on at least one of direct and reflected radar signals and determining locations of at least one of the nodes and the reflective sources based on the determined distances.