A method in a, radio frequency, RF, ultra-wideband, UWB, system comprising first and second RF receivers separated by a predetermined distance, d, and an RF transmitter, wherein d is at least λ /2, the method comprising the steps of: in the first and second receivers, synchronizing the first and second receivers to a predetermined time base; in the transmitter, transmitting a RF UWB signal having a predetermined carrier wavelength, λ ; in the first receiver, receiving the transmitted RF UWB signal and developing a first phase value as a function of the complex baseband impulse response of the transmitted RF UWB signal as received at the first receiver; in the second receiver, receiving the RF UWB transmitted signal and developing a second phase value as a function of the complex baseband impulse response of the transmitted RF UWB signal as received at the second receiver; developing a phase difference value, α , as a function of the first and second phase values; and developing a plurality of angles of arrival, θ , of the transmitted RF UWB signal relative to the first receiver based on the single phase difference value, α, according to the following: θ = sin − 1 αλ 2 πd , the method further comprising the step of: in the first and second receivers, determining respective first and second times of arrival of the transmitted RF UWB signal as received at the respective receiver; and selecting one of the plurality of angles of arrival as a function of the first and second times of arrival based on whether the signal arrives at the first receiver or the second receiver first. in the first and second receivers, synchronizing the first and second receivers to a predetermined time base; in the transmitter, transmitting a RF UWB signal having a predetermined carrier wavelength, λ ; in the first receiver, receiving the transmitted RF UWB signal and developing a first phase value as a function of the complex baseband impulse response of the transmitted RF UWB signal as received at the first receiver; in the second receiver, receiving the RF UWB transmitted signal and developing a second phase value as a function of the complex baseband impulse response of the transmitted RF UWB signal as received at the second receiver; developing a phase difference value, α , as a function of the first and second phase values; and developing a plurality of angles of arrival, θ , of the transmitted RF UWB signal relative to the first receiver based on the single phase difference value, α, according to the following: θ = sin − 1 αλ 2 πd , the method further comprising the step of: in the first and second receivers, determining respective first and second times of arrival of the transmitted RF UWB signal as received at the respective receiver; and selecting one of the plurality of angles of arrival as a function of the first and second times of arrival based on whether the signal arrives at the first receiver or the second receiver first. in the first and second receivers, determining respective first and second times of arrival of the transmitted RF UWB signal as received at the respective receiver; and selecting one of the plurality of angles of arrival as a function of the first and second times of arrival based on whether the signal arrives at the first receiver or the second receiver first. <EOS>