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This paper presents a protocol that enables an unlimited number of Wi-Fi users to position themselves within a meter-level accuracy and navigate indoors using time-delay-based Wi-Fi measurements. The proposed protocol, called collaborative time of arrival, is broadcast-based and relies on cooperation between the network sensors that support IEEE 802.11 finetiming measurements (FTMs) capabilities, which are enabled in state-of-the-art Wi-Fi chipsets. The clients can estimate and track their position by passively listening to timing measurements that are exchanged between the FTM-sensors. The passive nature of the clients' operation enables them to maintain their privacy by not exposing their presence to the network. This paper outlines the principles of the protocol and the mathematical background of the position estimation algorithms. Both theoretical analysis of the expected positioning accuracy, as well as real-life system performance examples, are provided. The protocol's performance analysis is based on a publicly available database of real network measurements.