A method for determining a location of a wireless device, the method comprising: obtaining a first position and a first orientation of a first wireless device; receiving a signal from a second wireless device; determining, for each of a first plurality of geographic regions defined in a first reference coordinate system defined by the first wireless device, expected phase differences between signals transmitted from the respective geographic region and receive elements of the first wireless device, the first plurality of geographic regions defined based on the first position and the first orientation; obtaining measured phase differences of signals transmitted by transmit elements of the second wireless device and received at the receive elements of the first wireless device; comparing the expected phase differences to the measured phase differences; determining position estimates of the plurality of transmit elements based on the comparing; determining a second position and a second orientation of the second wireless device based on the received signal, the first position and first orientation, and the position estimates of the plurality of transmit elements; obtaining a first location estimate of a third wireless device, the first location estimate based on a signal received from the third wireless device by the first wireless device, the first location estimate relative to the first reference coordinate system; obtaining a second location estimate of the third wireless device, the second location estimate based on a signal received from the third wireless device by the second wireless device, the second location estimate relative to a second reference coordinate system defined by the second wireless device; mapping the second location estimate from the second reference coordinate system to the first reference coordinate system; aggregating the first location estimate and the mapped second location estimate; and determining a location of the third wireless device within the first reference coordinate system based on the aggregation. obtaining a first position and a first orientation of a first wireless device; receiving a signal from a second wireless device; determining, for each of a first plurality of geographic regions defined in a first reference coordinate system defined by the first wireless device, expected phase differences between signals transmitted from the respective geographic region and receive elements of the first wireless device, the first plurality of geographic regions defined based on the first position and the first orientation; obtaining measured phase differences of signals transmitted by transmit elements of the second wireless device and received at the receive elements of the first wireless device; comparing the expected phase differences to the measured phase differences; determining position estimates of the plurality of transmit elements based on the comparing; determining a second position and a second orientation of the second wireless device based on the received signal, the first position and first orientation, and the position estimates of the plurality of transmit elements; obtaining a first location estimate of a third wireless device, the first location estimate based on a signal received from the third wireless device by the first wireless device, the first location estimate relative to the first reference coordinate system; obtaining a second location estimate of the third wireless device, the second location estimate based on a signal received from the third wireless device by the second wireless device, the second location estimate relative to a second reference coordinate system defined by the second wireless device; mapping the second location estimate from the second reference coordinate system to the first reference coordinate system; aggregating the first location estimate and the mapped second location estimate; and determining a location of the third wireless device within the first reference coordinate system based on the aggregation.