A method of aligning orientations of two wireless devices, comprising: determining (3008, 3160, 3510) a first orientation and first position of a first wireless device; determining (3018, 3166, 3525) a second orientation and a second position of a second wireless device based on a first signal (554, 1480, 1522) exchanged between the first and second wireless devices, wherein the determining of the second orientation of the second wireless device comprises determining phase differences of the signal when received at a plurality of receive element pairs of the first wireless device, the signal transmitted from a plurality of transmit elements of the second wireless device, and determining the second orientation of the second wireless device based on the phase differences; generating (2852, 3535, 3440) instructions to reduce or eliminate a difference between the first orientation and the second orientation, wherein the instructions describe how to align the first orientation of the first wireless device with the second orientation of the second wireless device by adjusting the first orientation of the first wireless device with respect to rotation about one or more axes; causing performance of the instructions; in response to the causing, determining an updated orientation of the second wireless device based on a second signal (554, 1480, 1522) exchanged between the first and second wireless devices; obtaining (3030, 3175) a first location estimate of a third wireless device, the first location estimate determined by the first wireless device at the first orientation based on signals received from the third wireless device by the first wireless device and further based on first expected phase differences; obtaining (3035, 3180) a second location estimate of the third wireless device, the second location estimate determined by the second wireless device at the updated orientation based on signals received from the third wireless device by the second wireless device and further based on second expected phase differences; and generating (3040, 3190) a third location estimate of the third wireless device based on the first location estimate and the second location estimate. determining (3008, 3160, 3510) a first orientation and first position of a first wireless device; determining (3018, 3166, 3525) a second orientation and a second position of a second wireless device based on a first signal (554, 1480, 1522) exchanged between the first and second wireless devices, wherein the determining of the second orientation of the second wireless device comprises determining phase differences of the signal when received at a plurality of receive element pairs of the first wireless device, the signal transmitted from a plurality of transmit elements of the second wireless device, and determining the second orientation of the second wireless device based on the phase differences; generating (2852, 3535, 3440) instructions to reduce or eliminate a difference between the first orientation and the second orientation, wherein the instructions describe how to align the first orientation of the first wireless device with the second orientation of the second wireless device by adjusting the first orientation of the first wireless device with respect to rotation about one or more axes; causing performance of the instructions; in response to the causing, determining an updated orientation of the second wireless device based on a second signal (554, 1480, 1522) exchanged between the first and second wireless devices; obtaining (3030, 3175) a first location estimate of a third wireless device, the first location estimate determined by the first wireless device at the first orientation based on signals received from the third wireless device by the first wireless device and further based on first expected phase differences; obtaining (3035, 3180) a second location estimate of the third wireless device, the second location estimate determined by the second wireless device at the updated orientation based on signals received from the third wireless device by the second wireless device and further based on second expected phase differences; and generating (3040, 3190) a third location estimate of the third wireless device based on the first location estimate and the second location estimate.