Aligned multi-wireless device location determination

A system, comprising:

• hardware processing circuitry;
• one or more hardware memories storing instructions that when executed configure the hardware processing circuitry to perform operations 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 a second wireless device, the second wireless device located at a 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.

A non-transitory computer readable storage medium comprising instructions that when executed configure hardware processing circuitry to perform operations 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 a second wireless device, the second wireless device located at a 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.