A method (1000, 1100) for self-determining one or more of position and orientation in a first coordinate system and controlling a platform (150, 150a, 400, 400', 1102), the method (1000, 1100) comprising: receiving, with a first receiver connected to the platform (150, 150a, 400, 400', 1102), a set of uniquely coded signals transmitted from a spatially-distributed architecture of N antenna arrays removed from the platform (150, 150a, 400, 400', 1102); determining, with a platform (150, 150a, 400, 400', 1102) processor (131, 151, 202, 331, 411) in communication with the first receiver, one or more of a position, a motion and an orientation of the platform (150, 150a, 400, 400', 1102) in the first coordinate system defined by the spatially-distributed architecture of N antenna arrays, wherein the platform (150, 150a, 400, 400', 1102) processor (131, 151, 202, 331, 411) identifies at least one of the position, the motion and the orientation of the platform (150, 150a, 400, 400', 1102) using one or more characteristics of the set of uniquely coded signals received by the first receiver; receiving one or more signals communicated by the spatially-distributed architecture, the one or more signals containing information about a non-cooperative object in the first coordinate system defined by the spatially-distributed architecture of N antenna arrays, wherein receiving the one or more signals includes receiving at least P electrical measurements made by a remote receiver separate from the platform (150, 150a, 400, 400', 1102) and separate from the spatially-distributed architecture of N antenna arrays in response to reflections of the set of uniquely coded signals transmitted from the spatially-distributed architecture of N antenna arrays, where P is a positive integer, the remote receiver located in a known relationship with respect to the spatially-distributed architecture of N antenna arrays; generating, with the platform (150, 150a, 400, 400', 1102) processor (131, 151, 202, 331, 411), a guidance solution, wherein the platform (150, 150a, 400, 400', 1102) processor (131, 151, 202, 331, 411) uses the P electrical measurements made by the remote receiver to track one or more of the position, motion, and orientation of the non-cooperative object; and applying at least one control signal responsive to the guidance solution to direct the platform (150, 150a, 400, 400', 1102) relative to the non-cooperative object. receiving, with a first receiver connected to the platform (150, 150a, 400, 400', 1102), a set of uniquely coded signals transmitted from a spatially-distributed architecture of N antenna arrays removed from the platform (150, 150a, 400, 400', 1102); determining, with a platform (150, 150a, 400, 400', 1102) processor (131, 151, 202, 331, 411) in communication with the first receiver, one or more of a position, a motion and an orientation of the platform (150, 150a, 400, 400', 1102) in the first coordinate system defined by the spatially-distributed architecture of N antenna arrays, wherein the platform (150, 150a, 400, 400', 1102) processor (131, 151, 202, 331, 411) identifies at least one of the position, the motion and the orientation of the platform (150, 150a, 400, 400', 1102) using one or more characteristics of the set of uniquely coded signals received by the first receiver; receiving one or more signals communicated by the spatially-distributed architecture, the one or more signals containing information about a non-cooperative object in the first coordinate system defined by the spatially-distributed architecture of N antenna arrays, wherein receiving the one or more signals includes receiving at least P electrical measurements made by a remote receiver separate from the platform (150, 150a, 400, 400', 1102) and separate from the spatially-distributed architecture of N antenna arrays in response to reflections of the set of uniquely coded signals transmitted from the spatially-distributed architecture of N antenna arrays, where P is a positive integer, the remote receiver located in a known relationship with respect to the spatially-distributed architecture of N antenna arrays; generating, with the platform (150, 150a, 400, 400', 1102) processor (131, 151, 202, 331, 411), a guidance solution, wherein the platform (150, 150a, 400, 400', 1102) processor (131, 151, 202, 331, 411) uses the P electrical measurements made by the remote receiver to track one or more of the position, motion, and orientation of the non-cooperative object; and applying at least one control signal responsive to the guidance solution to direct the platform (150, 150a, 400, 400', 1102) relative to the non-cooperative object.