<p>An exemplary method includes: obtaining I and Q complex signal parameters of signals received from a mobile tag at each of at least three antenna elements forming part of a positioning device; extracting an identifier modulated onto the signals received from the mobile tag; and transmitting the I and Q complex signal parameters and the identifier to allow a position calculating device to calculate a bearing of the mobile tag from the positioning device, wherein transmitting the I and Q complex signal parameters and the identifier comprises the positioning device wirelessly broadcasting the I and Q complex signal parameters and the identifier. An exemplary apparatus and computer readable medium configured to perform the method are also disclosed.</p>
