A receiver circuit is disclosed. The receiver circuit includes a receiver antenna or a receiver antenna arrays oriented at a receiver orientation angle and configured to receive a plurality of RF signals transmitted from a transmitter circuit including a transmit antenna or a transmit antenna array oriented at a transmitter orientation angle. A controller A) calculates first and second AoAs based on a first signal at a first receiver antenna array, and calculates third and fourth AoAs based on a second signal at a second receiver antenna array, and/or B) calculates first and second AoDs based on a third signal from a first transmit antenna array, and calculates third and fourth AoDs based on a fourth signal from a second transmit antenna array. The controller also determines which of the first and second AoAs is correct, and/or determines which of the first and second AoDs is correct.