A method includes using a receiver of a first device, receiving from a second device, radio frequency (RF) signals. The method also includes using a processor of the first device, determining and storing, based on the RF signals, a set of angle-estimation values of an angle between a plurality of antenna elements of one of the first device and the second device and an antenna element of the other of the first device and the second device, a set of confidence measurements, and at least one of an Area-of Arrival (ARoA) value and an Area-of Departure (ARoD) value. Each of the set of confidence measurements indicates a confidence of an angle-estimation value of the set of angle-estimation values.