Indoor navigation and orientation determination system

A system for navigation and orientation determination within an environment, comprising:

• at least one base unit configured for mounting at a fixed position within an environment, the fixed position associated with first location data relative to at least one first platform-referenced coordinate reference frame (CRF) and comprising:
• a first antenna array of one or more first antenna elements;
• at least one first transceiver coupled to the first antenna array and configured to:
• transmit at least one first signal via the first antenna array;
• and
• receive, via the first antenna array, at least one second signal from a mobile unit within the environment, the at least one mobile unit having a line of sight (LOS) to the base unit;
• and
• at least one first processor coupled to the first transceiver, the first processor configured to:
• determine, based on one or more of the first signal and the second signal, second location data associated with the at least one mobile unit, the second location data relative to the at least one first platform-referenced CRF;
• the at least one first transceiver configured to transmit at least one third signal to the at least one mobile unit via the first antenna array, the third signal associated with the second location data;
• the at least one mobile unit comprising:
• a second antenna array of one or more second antenna elements;
• at least one second transceiver coupled to the second antenna array and configured to:
• receive one or more of the at least one first signal and the at least one third signal via the second antenna array;
• and
• transmit the at least one second signal to the base unit via the second antenna array;
• at least one second processor coupled to the second transceiver and configured to:
• receive at least one of the first location data and the second location data from the second transceiver;
• and
• determine at least one first angle of arrival (AoA) associated with the at least one third signal;
• and
• determine third location data associated with the at least one mobile unit based on at least one of the second location data and the first AoA;
• at least one inertial measurement unit (IMU) coupled to the second processor, the at least one IMU configured to determine head pose data associated with the at least one mobile unit based on the third location data.