You can handle that with a hash (the way javascript does by default) and have the url become example.com#people, or any other delimiter really. It should be as simple as changing the character you’re parsing the url for.
UPDATE: Example code as per comments
$args = array(
'label' => 'Your Label',
'labels' => $labels, //define this elsewhere
'public' => false,
'publicly_queryable' => true,
'exclude_from_search' => true, //change this if needed
'show_ui' => true,
'show_in_menu' => true,
'menu_position' => 20,
'supports' => array(
'title',
'editor',
'author',
'custom-fields',
'revisions'
),
'taxonomies' => array(
'category'
),
'has_archive' => false,
'show_in_nav_menus' => true
);
register_post_type( 'single-pages', $args );
http://codex.wordpress.org/Function_Reference/register_post_type for documentation, you’ll probably needa drop/tweak some of those args to meet your spec on the project and you definitely need to setup the labels for usability if it’s a client’s site, but that should get you going. This code is untested (I wrote it directly into the textarea, so forgive any typos).