Single antenna direction finding and localization

A device that performs single antenna direction finding, the device comprising:

• an antenna that physically moves with physical movement of the device;
• signal response hardware within the device that is used to make a plurality of signal response measurements of a signal detected by the antenna;
• a means for 3-dimensional positioning that makes measurements that provides information that allows calculation of relative device position of the device as the device is moved to different device positions;
• and
• an estimation block that uses a plurality of signal response measurements received from the signal response hardware from signals emanating from an object and uses a plurality of measurements from the measurement to produce a virtual response array vector, wherein the estimation block uses the virtual response array vector to calculate a direction of arrival of the signals emanating from the object;
• wherein the plurality of signal response measurements are made by sampling signal response at a plurality of sample times at a plurality of different device positions, and
• wherein the plurality of measurements are made at the plurality of sample times.

Non-transitory media that includes software which when run on a device that has a processor, an antenna, signal processing hardware and a means for 3-dimensional positioning, performs a method for single antenna direction finding, the method comprising:

• collecting device position data and signal response data when the device is physically moved, including:
• receiving from the signal processing hardware within the device a plurality of signal response measurements of a signal detected by the antenna of the device, the signals emanating from an object, the plurality of signal response measurements being made by sampling signal response at a plurality of sample times, wherein during the plurality of sample times, the device is at a plurality of different device positions, and
• receiving from the means for 3-dimensional positioning a plurality of measurements at the plurality of sample times, the plurality of measurements providing information that allows calculation of relative device position of the plurality of different device positions with respect to each other;
• using the plurality of signal response measurements and the plurality of measurements to produce a virtual response array vector;
• and
• using the virtual response array vector to calculate a direction of arrival from the object to the device.