The very large bandwidth available in the 60 GHz band allows, in principle, to design highly accurate positioning systems. Integrating such systems with standard protocols (e.g., IEEE 802.11ad) is crucial for the deployment of location-based services, but it is also challenging and limits the design choices. Another key problem is that consumer-grade 60 GHz hardware only provides coarse channel state information, and has highly irregular beam shapes due to its cost-efficient design.