A first device and second device communicate using mmWave communication with antenna alignment based on processing of ultra wide band (UWB) pulses. A limit on angle resolution due to a small number of antennas on either of the devices is relieved by using two or more carrier frequencies in the UWB pulses. A limit on angle resolution is further overcome in some situations by use of a neural network to refine angle estimates. In some situations, received power values are further used to select an angle for beam alignment.