A system and method for detecting and compensating for carrier frequency offset is disclosed. This system compensates for CFO and calculates a corrected phase. This corrected phase may be used by, for example, an AoX algorithm, such as MUSIC, to more accurately determine the angle of arrival or angle of departure of a signal. In certain embodiments, the system oversamples the incoming signal to create a plurality of samples. The system then determines the phase of each of the plurality of samples and calculates the carrier frequency based on the time derivative of the phase. In certain embodiments, a particular portion of an incoming packet is used to determine the carrier frequency offset. In other embodiments, the system calculates the carrier frequency offset throughout an entirety of the incoming packet. Once the carrier frequency offset is determined, it can be used to adjust the received signals. These adjusted signals are then used to determine the angle of arrival or angle of departure.