Angle of arrival and departure using standard bluetooth low energy packets

A locator system for determining a location of a device transmitting a packet signal comprising at least an expected data sequence, the locator system comprising:

• two or more antennas, one of the two or more antennas being a reference antenna,
• one or more processors;
• and
• one or more computer-readable media having stored thereon instructions that are executable by the one or more processors to configure the locator system to determine the location of a device, including instructions that are executable to configure the computer system to perform at least the following:
• measure the packet sign at the two or more antennas, the packet sign being measured at a first time and a third time at the reference antenna and at a second time, between the first time and the third time, at each other antenna of the two or more antennas,
• determine a first in-phase component and a first quadrature component for a first measurement at the first time and a second in-phase component and a second quadrature component for a second measurement at the second time,
• apply a low-pass filter to the first in-phase component and the first quadrature component to obtain a first continuous wave tone representation and to the second in-phase component and the second quadrature component to obtain a second continuous wave tone representation,
• determine a first phase of the first measurement using the first continuous wave tone representation and an uncorrected phase of the second measurement using the second continuous wave tone representation
• determine a corrected phase of the second measurement using the first phase and the uncorrected phase;
• and
• determine the location of the device using at least the corrected phase of the each other antennas and the first phase of the reference antenna.