A method, comprising: generating first expected phase differences of signals transmitted from each of a plurality of regions and received by a plurality of receive elements of a first wireless device, the first wireless device located at a first location and first orientation; obtaining first phase differences of signals transmitted from a plurality of transmit elements of a second wireless device and received at a plurality of receiving elements of the first wireless device; determining based on the first phase differences and the first expected phase differences, a second location and second orientation of the second wireless device; generating second expected phase differences of signals transmitted from each of the plurality of regions and received at a plurality of receive elements of the second wireless device, the second wireless device located at the second location and second orientation; receiving, from the first wireless device, first measured phase differences of signals received from a third wireless device by the plurality of receive elements of the first wireless device; receiving, from the second wireless device, second measured phase differences of signals received from the third wireless device by the plurality of receive elements of the second wireless device; estimating a first location of the third wireless device based on the first measured phase differences and the first expected phase differences; estimating a second location of the third wireless device based on the second measured phase differences and the second expected phase differences; aggregating the estimated first location and the estimated second location; and determining a location of the third wireless device based on the aggregation. generating first expected phase differences of signals transmitted from each of a plurality of regions and received by a plurality of receive elements of a first wireless device, the first wireless device located at a first location and first orientation; obtaining first phase differences of signals transmitted from a plurality of transmit elements of a second wireless device and received at a plurality of receiving elements of the first wireless device; determining based on the first phase differences and the first expected phase differences, a second location and second orientation of the second wireless device; generating second expected phase differences of signals transmitted from each of the plurality of regions and received at a plurality of receive elements of the second wireless device, the second wireless device located at the second location and second orientation; receiving, from the first wireless device, first measured phase differences of signals received from a third wireless device by the plurality of receive elements of the first wireless device; receiving, from the second wireless device, second measured phase differences of signals received from the third wireless device by the plurality of receive elements of the second wireless device; estimating a first location of the third wireless device based on the first measured phase differences and the first expected phase differences; estimating a second location of the third wireless device based on the second measured phase differences and the second expected phase differences; aggregating the estimated first location and the estimated second location; and determining a location of the third wireless device based on the aggregation. <EOS>