Methods and apparatus relating to a pyroelectric IR (PIR) motion sensor are provided. The provided PIR motion sensor can be used to determine an angular position of a moving person relative to the PIR motion sensor. The provided PIR motion sensor can be used to determine a proximity of a moving person relative to the PIR motion sensor. The angular position and the proximity can be used to identify a false alarm, estimate occupancy of a region, enable tracking of a target, and the like. In an example, the provided PIR motion sensor includes multiple PIR sensors and a Fresnel lens including lenslets configured to direct received IR radiation to at least two of the PIR sensors.