Angle of arrival (AOA) and differential AOA (DAOA) positioning for a user equipment (UE) is enhanced by using the UE's inertial sensors to track UE motion and change in angular UE orientation. UE location may be computed, by the UE or a location server, using triangulation for AOA measurements relative to a global reference frame or using multilateration for DAOA measurements. The computed UE location may remain accurate even when the UE is moving while obtaining measurements. The UE can also use AOA and DAOA measurements using 3D angles to increase accuracy when the UE and measured base stations are not in the same horizontal plane. 3D angles can also be used to identify whether the UE is close to a serving base station to improve accuracy further. Various non-AOA measurements may also be used to supplement AOA and DAOA measurements.