Embodiments of methods for determining a location of a mobile device, a mobile device, and a location beacon system are described. In an embodiment, a method for determining a location of a mobile device involves receiving, at a dual-antenna receiver of the mobile device, a plurality of ultra wide band (UWB) signals from a group of unsynchronized beacons having a quadrilateral formation, at the mobile device, determining angle of arrival (AoA) information from the UWB signals, and at the mobile device, calculating the location of the mobile device based on the AoA information. Other embodiments are also described.