A method of determining the orientation of a device having disposed therein, in part, an inertia measurement unit, a phased array receiver, and a controller, includes, in part, detecting the difference between phases of an RF signal received by at least a pair of receive elements of the phased array receiver, determining the angle of incidence of the RF signal from the phase difference, using the angle of incidence to determine the projection of a vector on a plane of an array of transmitters transmitting the RF signal, and determining the yaw of the device from the projection of the vector. The vector is a three-dimensional vector representative of the orientation of the plane of the phased array receivers relative to the plane of the array of transmitters transmitting the RF signal.