Abstract: A method for assessing viability of a WiFi fine tune measurement (FTM) based ranging protocol for enterprise-grade localization with heterogeneity across operational parameters is presented. The method includes enabling a plurality of access points to range with a plurality mobile devices handled by a plurality of users within an enterprise environment, tracking a mobile device of the plurality of mobile devices using onboard sensors as the mobile device travels within the enterprise environment, measuring a plurality of ranges with at least three access points of the plurality of access points at various points along a trajectory, and combining information related to the plurality of ranges and the trajectory to predict a range offset of the mobile device such that the mobile device itself self-calibrates all its range offsets on-demand.