A positioning system includes one or more active landmarks and a device. The device transmits an electromagnetic pulse having a polarization and receives return signals over a period of time. The device may preferentially receive return signals having the polarization. The return signals include at least one return modulated pulse from at least one active landmark. The device processes the return signals to isolate the return modulated pulse from the return signals and to determine a range from the device to the active landmark. The device optionally moves in a particular direction while receiving the return signals, detects a Doppler shift in the return modulated pulse portion of the return signals and determines an angle between the particular direction and a straight line between the device and the active landmark.