A method comprising: providing a device which comprises a body, a plurality of rotors coupled to the body, a plurality of antennas physically coupled to the body and configured to receive a first signal from a transmitter, and a controller coupled to the body and configured to control the plurality of rotors; controlling the plurality of rotors by the controller to cause the plurality of antennas to traverse a flight path, wherein traversing the flight path includes concurrent translation of the body in a horizontal plane and rotation of the body about an axis; while traversing the flight path: receiving a first phase measurement of a first signal via a first antenna of the plurality of antennas; receiving a second phase measurement of the first signal via a second antenna of the plurality of antennas; and determining position information related to a location of the transmitter based at least in part on the first phase measurement and the second phase measurement; and iteratively increasing accuracy of the position information as the plurality of antennas traverse the flight path based on phase measurements at different locations, wherein the body comprises a plurality of arms extended from a central portion of the body, wherein the first antenna is coupled to a first arm of the plurality of arms, and wherein a first rotor of the plurality of rotors is coupled to the first arm, wherein the second antenna is coupled to a second arm of the plurality of arms, and wherein a second rotor of the plurality of rotors is coupled to the second arm, and wherein the first arm extends from the central portion in a first direction, and wherein the second arm extends from the central portion in a second direction that is radially different from the first direction in the horizontal plane. providing a device which comprises a body, a plurality of rotors coupled to the body, a plurality of antennas physically coupled to the body and configured to receive a first signal from a transmitter, and a controller coupled to the body and configured to control the plurality of rotors; controlling the plurality of rotors by the controller to cause the plurality of antennas to traverse a flight path, wherein traversing the flight path includes concurrent translation of the body in a horizontal plane and rotation of the body about an axis; while traversing the flight path: receiving a first phase measurement of a first signal via a first antenna of the plurality of antennas; receiving a second phase measurement of the first signal via a second antenna of the plurality of antennas; and determining position information related to a location of the transmitter based at least in part on the first phase measurement and the second phase measurement; and iteratively increasing accuracy of the position information as the plurality of antennas traverse the flight path based on phase measurements at different locations, wherein the body comprises a plurality of arms extended from a central portion of the body, wherein the first antenna is coupled to a first arm of the plurality of arms, and wherein a first rotor of the plurality of rotors is coupled to the first arm, wherein the second antenna is coupled to a second arm of the plurality of arms, and wherein a second rotor of the plurality of rotors is coupled to the second arm, and wherein the first arm extends from the central portion in a first direction, and wherein the second arm extends from the central portion in a second direction that is radially different from the first direction in the horizontal plane. receiving a first phase measurement of a first signal via a first antenna of the plurality of antennas; receiving a second phase measurement of the first signal via a second antenna of the plurality of antennas; and determining position information related to a location of the transmitter based at least in part on the first phase measurement and the second phase measurement; and iteratively increasing accuracy of the position information as the plurality of antennas traverse the flight path based on phase measurements at different locations, wherein the body comprises a plurality of arms extended from a central portion of the body, wherein the first antenna is coupled to a first arm of the plurality of arms, and wherein a first rotor of the plurality of rotors is coupled to the first arm, wherein the second antenna is coupled to a second arm of the plurality of arms, and wherein a second rotor of the plurality of rotors is coupled to the second arm, and wherein the first arm extends from the central portion in a first direction, and wherein the second arm extends from the central portion in a second direction that is radially different from the first direction in the horizontal plane.